diff --git a/.gitattributes b/.gitattributes index 91288dec0b74e0cc22399d84e243140b32f3cce2..56b5018302daff1aebb9c5e1402012dd8f7a97e5 100644 --- a/.gitattributes +++ b/.gitattributes @@ -253,3 +253,6 @@ yaskawa_motoman_next_nhc12/payloads/geometries.usd filter=lfs diff=lfs merge=lfs comau_n_220_27/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text psyonic_ability_hand_left_large/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text +psyonic_ability_hand_left_small/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text +psyonic_ability_hand_right_large/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text +psyonic_ability_hand_right_small/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text diff --git a/psyonic_ability_hand_left_small/payloads/Sensor/none.usda b/psyonic_ability_hand_left_small/payloads/Sensor/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..980157bebb3a5660cdb4df3681290ba7df6fb0b2 --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/Sensor/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_left_small/payloads/Sensor/sensors.usda b/psyonic_ability_hand_left_small/payloads/Sensor/sensors.usda new file mode 100644 index 0000000000000000000000000000000000000000..912ec8511b4b723ee8f4faba7aa524f8221dded6 --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/Sensor/sensors.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_left_small/payloads/base.usda b/psyonic_ability_hand_left_small/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..897e0bf2c71722556902532b1792fd6073d6ebda --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/base.usda @@ -0,0 +1,1296 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + subLayers = [ + @./robot.usda@ + ] + upAxis = "Z" +) + +def Xform "ability_hand" +{ + 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"] + + def Xform "base" + { + 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"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "wrist_mesh" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + + def Xform "palm_mesh" + { + token visibility = "inherited" + quatd xformOp:orient = (0.0442296601831913, 0.0006102907354943454, 0.9990212321281433, 0.000027017966203857213) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "palm_mesh_coll" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.0442296601831913, 0.0006102907354943454, 0.9990212321281433, 0.000027017966203857213) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + + def Xform "gripper_01" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.065 + custom float gripper_maxPayload = 0.4 + string isaac:Description = "Multi-finger hand grasp center" + token simready:attactment:socketType = "Gripper" + double3 xformOp:translate = (0.01, 0.026, 0.088) + uniform token[] xformOpOrder = ["xformOp:translate"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0.035355, 0.035355)] + point3f[] points = [(0, 0, 0), (0, 0.035355, 0.035355)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, -0.017678, -0.017678), (0, 0.017678, 0.017678)] + point3f[] points = [(0, -0.017678, 0.017678), (0, 0.017678, -0.017678)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + } + + def Xform "index_L1" + { + quatd xformOp:orient = (0.7144400477409363, 0.1297096312046051, -0.6859613656997681, -0.04698991775512695) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02800000086426735, -0.008999999612569809, 0.09600000083446503) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "index_mesh_1" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "index_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Scope "joints" + { + } + + def Xform "index_L2" + { + quatd xformOp:orient = (0.6802375912666321, -0.13603518903255463, -0.6847350001335144, 0.22340428829193115) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029735717922449112, -0.015295763500034809, 0.13405409455299377) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr0" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr1" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr2" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr3" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr4" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr5" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "index_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "index_mesh_2" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "index_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "middle_L1" + { + quatd xformOp:orient = (0.698369026184082, 0.10381802916526794, -0.7045450210571289, -0.07154536247253418) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00800000037997961, -0.012000000104308128, 0.0989999994635582) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "middle_mesh_1" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "middle_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "middle_L2" + { + quatd xformOp:orient = (0.6745074391365051, -0.16699565947055817, -0.6922964453697205, 0.19462212920188904) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.007733365520834923, -0.018318597227334976, 0.13708893954753876) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr10" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr11" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr6" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr7" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr8" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr9" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "middle_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "middle_mesh_2" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "middle_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "pinky_L1" + { + quatd xformOp:orient = (0.6818196773529053, 0.05423292517662048, -0.7191934585571289, -0.12223544716835022) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.03099999949336052, -0.007000000216066837, 0.09099999815225601) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "pinky_mesh_1" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "pinky_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "pinky_L2" + { + quatd xformOp:orient = (0.6781002283096313, -0.21846242249011993, -0.6873533725738525, 0.14142006635665894) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.033187273889780045, -0.013272823765873909, 0.1290345937013626) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr18" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr19" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr20" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr21" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr22" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr23" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "pinky_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "pinky_mesh_2" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "pinky_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "ring_L1" + { + quatd xformOp:orient = (0.6811507940292358, 0.07705366611480713, -0.7213432192802429, -0.09879416227340698) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.012000000104308128, -0.009999999776482582, 0.09700000286102295) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "ring_mesh_1" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "ring_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "ring_L2" + { + quatd xformOp:orient = (0.6687197089195251, -0.19809848070144653, -0.6978755593299866, 0.1629130244255066) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.014239470474421978, -0.01629931852221489, 0.1350271850824356) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr12" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr13" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr14" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr15" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr16" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr17" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "ring_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "ring_mesh_2" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "ring_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "thumb_L1" + { + quatd xformOp:orient = (0.0041431705467402935, -0.9946286678314209, 0.09358209371566772, -0.04403518885374069) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "thumb_mesh_1" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "thumb_coll_mesh_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.6087597012519836, -0.7933546304702759, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02782999910414219, 0, -0.014750000089406967) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_8" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "thumb_L2" + { + quatd xformOp:orient = (0.7865697145462036, 0.6087785959243774, -0.09190463274717331, -0.04743674024939537) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.04997711628675461, -0.0014094016514718533, 0.04943874478340149) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr24" + { + quatd xformOp:orient = (0.40374043583869934, -0.8910711407661438, -0.18884731829166412, 0.08557149767875671) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.04746999964118004, 0.01988000050187111, -0.008740000426769257) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr25" + { + quatd xformOp:orient = (0.7761160135269165, -0.5955318212509155, -0.12621015310287476, 0.1644894778728485) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.047210000455379486, 0.021239999681711197, -0.0010600000387057662) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr26" + { + quatd xformOp:orient = (0.965203583240509, -0.15936213731765747, -0.03376941755414009, 0.2045615166425705) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.04896000027656555, 0.016540000215172768, 0.004910000134259462) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr27" + { + quatd xformOp:orient = (0.40374043583869934, -0.8910711407661438, -0.18884731829166412, 0.08557149767875671) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.037390001118183136, 0.015359999611973763, -0.008790000341832638) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr28" + { + quatd xformOp:orient = (0.965203583240509, -0.15936213731765747, -0.03376941755414009, 0.2045615166425705) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03888000175356865, 0.012000000104308128, 0.004939999897032976) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr29" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.05590999871492386, 0.02160000056028366, -0.0019199999514967203) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "thumb_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.0520012266933918, 0.02800869755446911, -0.0008848357829265296) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "thumb_mesh_2" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "thumb_hull_mesh_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.0000012489052778619225, 0.9852589964866638, 0.1710694283246994, 2.1684604689653497e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.06519000232219696, 0.023339999839663506, -0.003930000122636557) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_10" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Scope "Looks" + { + } + + def Scope "VisualMaterials" + { + } +} + diff --git a/psyonic_ability_hand_left_small/payloads/geometries.usd b/psyonic_ability_hand_left_small/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..0d3562428bd0eb3781a85962b26b1fba1ed13bf7 --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:367770f2f19f6667592f5102b5e849da1838d85b8a82faefbcff7a49858d4d3f +size 4141473 diff --git a/psyonic_ability_hand_left_small/payloads/instances.usda b/psyonic_ability_hand_left_small/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..37d5db1b6850d7563d8b68dd1ecdfe72c006a17f --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/instances.usda @@ -0,0 +1,467 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Instances" +{ + def Xform "mesh" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_2" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_3" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_4" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_5" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_5" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_6" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_6" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_7" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_7" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_8" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_8" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_9" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_9" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_10" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_10" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } +} + diff --git a/psyonic_ability_hand_left_small/payloads/materials.usda b/psyonic_ability_hand_left_small/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..f36f7ff5ab76d728b2be025567087772452efbe6 --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/materials.usda @@ -0,0 +1,173 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "DefaultMaterial" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "DefaultMaterial" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.49803925, 0.49803925, 0.49803925) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } +} + diff --git a/psyonic_ability_hand_left_small/payloads/robot.usda b/psyonic_ability_hand_left_small/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..68e1490822a83c67ad083cd9594bd947cc594dbf --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/robot.usda @@ -0,0 +1,548 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string[] isaac:changelog + string isaac:description + token isaac:license + string isaac:namespace + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + , + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType = "End Effector" + string isaac:source + string isaac:version + + over "base" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "index_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "index_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + } + + over "index_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr0" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr2" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr3" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr4" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr5" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "index_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "middle_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr10" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr11" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr6" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr7" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr8" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr9" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "middle_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "pinky_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "pinky_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr18" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr19" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr20" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr21" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr22" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr23" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "pinky_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "ring_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr12" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr13" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr14" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr15" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr16" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr17" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "ring_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "thumb_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr24" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr25" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr26" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr27" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr28" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr29" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "thumb_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } +} + diff --git a/psyonic_ability_hand_left_small/runnables/physics/mujoco.usda b/psyonic_ability_hand_left_small/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..4202123dfd8782fa56f3703e8c9ec3c4a79f7a31 --- /dev/null +++ b/psyonic_ability_hand_left_small/runnables/physics/mujoco.usda @@ -0,0 +1,428 @@ +#usda 1.0 +( + defaultPrim = "ability_hand" +) + +def "ability_hand" +{ + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "gripper_01" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "index_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "middle_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "pinky_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "ring_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "thumb_q2" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + def "MuJoCoActuators" + { + def MjcActuator "act_ability_hand_joints_index_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -10.260875369346973, -0.004104350051689254] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_middle_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -10.107831320614498, -0.0040431326469736965] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_pinky_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -9.429318620918139, -0.0037717276764849014] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_ring_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -9.822100601970769, -0.003928840370188376] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_thumb_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -17.047399139995832, -0.006818960045532559] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 1.2000000476837158 + double mjc:forceRange:min = -1.2000000476837158 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_thumb_q2" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [6.373630412484431, -11.099760056981586, -0.004439903938749291] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } +} + diff --git a/psyonic_ability_hand_left_small/runnables/physics/newton.usda b/psyonic_ability_hand_left_small/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..61402c64197a661d97e29aaa4dd37529880d6515 --- /dev/null +++ b/psyonic_ability_hand_left_small/runnables/physics/newton.usda @@ -0,0 +1,370 @@ +#usda 1.0 +( + defaultPrim = "ability_hand" +) + +over "ability_hand" +{ + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "root_joint" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] + ) + { + bool newton:selfCollisionEnabled = 0 + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "index_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "middle_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "pinky_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00065 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "ring_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.146025 + float newton:damping = 0.003245 + float newton:velocityLimit = 2311.248 + } + + over "thumb_q2" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + } +} + diff --git a/psyonic_ability_hand_left_small/runnables/physics/physx.usda b/psyonic_ability_hand_left_small/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..439ae028961d2497effd1931bf7525bf894a8f0f --- /dev/null +++ b/psyonic_ability_hand_left_small/runnables/physics/physx.usda @@ -0,0 +1,374 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" +{ + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "index_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "middle_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "middle_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "pinky_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "pinky_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "ring_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "ring_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "thumb_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 2311.248 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "thumb_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } + + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } +} + diff --git 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/dev/null +++ b/psyonic_ability_hand_right_large/.metadata/com.nvidia.simready.root_usds.json @@ -0,0 +1,6 @@ +{ + "format_version": "1.0", + "entries": [ + "ability_hand_right_large.usda" + ] +} diff --git a/psyonic_ability_hand_right_large/.metadata/license.txt b/psyonic_ability_hand_right_large/.metadata/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..da6ab6cc8f333d7e89a99812866df8f24374d47c --- /dev/null +++ b/psyonic_ability_hand_right_large/.metadata/license.txt @@ -0,0 +1,396 @@ +Attribution 4.0 International + +======================================================================= + +Creative Commons Corporation ("Creative Commons") is not a law firm and +does not provide legal services or legal advice. Distribution of +Creative Commons public licenses does not create a lawyer-client or +other relationship. Creative Commons makes its licenses and related +information available on an "as-is" basis. Creative Commons gives no +warranties regarding its licenses, any material licensed under their +terms and conditions, or any related information. Creative Commons +disclaims all liability for damages resulting from their use to the +fullest extent possible. + +Using Creative Commons Public Licenses + +Creative Commons public licenses provide a standard set of terms and +conditions that creators and other rights holders may use to share +original works of authorship and other material subject to copyright +and certain other rights specified in the public license below. 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}, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987755984196, + "start": 1.2074946619845817e-13, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 31, + "json": 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"unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987755985505, + "start": 2.5170802399852865e-13, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 34, + "json": "motion_history/dgv_joint_004.json", + "csv": "motion_history/dgv_joint_004.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_005": { + "value": { + "schema_version": 1, + "name": "dgv_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": -0.523598775598465, + "start": -1.6623655848136548e-13, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 29, + "json": "motion_history/dgv_joint_005.json", + "csv": "motion_history/dgv_joint_005.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_006": { + "value": { + "schema_version": 1, + "name": "dgv_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987756020699, + "start": 3.7710763331477715e-12, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 29, + "json": "motion_history/dgv_joint_006.json", + "csv": "motion_history/dgv_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 18.062, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 6, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 4, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 4, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.485, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 32, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 15.16, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.594, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 6, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 5, + "unit": null + }, + "dgv_joints_failed": { + "value": 1, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235971846337689, + "start": -1.590964529896155e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 482, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_002": { + "value": { + "schema_version": 1, + "name": "dgv_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.523597214962575, + "start": -1.5606357237629709e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 482, + "json": "motion_history/dgv_joint_002.json", + "csv": "motion_history/dgv_joint_002.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_003": { + "value": { + "schema_version": 1, + "name": "dgv_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235973337301912, + "start": -1.4418681075767381e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 482, + "json": "motion_history/dgv_joint_003.json", + "csv": "motion_history/dgv_joint_003.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_004": { + "value": { + "schema_version": 1, + "name": "dgv_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235972078589667, + "start": -1.5677393321311683e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 482, + "json": "motion_history/dgv_joint_004.json", + "csv": "motion_history/dgv_joint_004.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_005": { + "value": { + "schema_version": 1, + "name": "dgv_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": -0.5235978134897833, + "start": 9.621085155231413e-07, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 1009, + "json": "motion_history/dgv_joint_005.json", + "csv": "motion_history/dgv_joint_005.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_006": { + "value": { + "schema_version": 1, + "name": "dgv_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235494387776326, + "start": -4.933682066621259e-05, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 296, + "json": "motion_history/dgv_joint_006.json", + "csv": "motion_history/dgv_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + 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"unit": null + }, + "jm_joint_index_q1_status": { + "value": "passed", + "unit": null + }, + "jm_joint_index_q2_status": { + "value": "passed", + "unit": null + }, + "jm_joint_middle_q1_status": { + "value": "passed", + "unit": null + }, + "jm_joint_middle_q2_status": { + "value": "passed", + "unit": null + }, + "jm_joint_pinky_q1_status": { + "value": "passed", + "unit": null + }, + "jm_joint_pinky_q2_status": { + "value": "passed", + "unit": null + }, + "jm_joint_ring_q1_status": { + "value": "passed", + "unit": null + }, + "jm_joint_ring_q2_status": { + "value": "passed", + "unit": null + }, + "jm_joint_thumb_q1_status": { + "value": "passed", + "unit": null + }, + "jm_joint_thumb_q2_status": { + "value": "passed", + "unit": null + }, + "motion_history_joint_movement_000": { + "value": { + "schema_version": 1, + "name": "joint_movement_000", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + 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ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_000.json", + "csv": "motion_history/joint_movement_000.csv" + }, + "unit": null + }, + "motion_history_joint_movement_001": { + "value": { + "schema_version": 1, + "name": "joint_movement_001", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "index_q2", + "authored_joint_name": "index_q2", + "prim_path": "/World/AssetRoot/Asset/joints/index_q2", + "child_body_path": "/World/AssetRoot/Asset/index_L2", + "parent_body_path": "/World/AssetRoot/Asset/index_L1", + "reference_frame": "/World/AssetRoot/Asset/index_L1", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_001.json", + "csv": "motion_history/joint_movement_001.csv" + }, + "unit": null + }, + "motion_history_joint_movement_002": { + "value": { + "schema_version": 1, + "name": "joint_movement_002", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "middle_q1", + "authored_joint_name": "middle_q1", + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "child_body_path": "/World/AssetRoot/Asset/middle_L1", + "parent_body_path": "/World/AssetRoot/Asset/base", + "reference_frame": "/World/AssetRoot/Asset/base", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_002.json", + "csv": "motion_history/joint_movement_002.csv" + }, + "unit": null + }, + "motion_history_joint_movement_003": { + "value": { + "schema_version": 1, + "name": "joint_movement_003", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "middle_q2", + "authored_joint_name": "middle_q2", + "prim_path": "/World/AssetRoot/Asset/joints/middle_q2", + "child_body_path": "/World/AssetRoot/Asset/middle_L2", + "parent_body_path": "/World/AssetRoot/Asset/middle_L1", + "reference_frame": "/World/AssetRoot/Asset/middle_L1", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_003.json", + "csv": "motion_history/joint_movement_003.csv" + }, + "unit": null + }, + "motion_history_joint_movement_004": { + "value": { + "schema_version": 1, + "name": "joint_movement_004", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "pinky_q1", + "authored_joint_name": "pinky_q1", + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "child_body_path": "/World/AssetRoot/Asset/pinky_L1", + "parent_body_path": "/World/AssetRoot/Asset/base", + "reference_frame": "/World/AssetRoot/Asset/base", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_004.json", + "csv": "motion_history/joint_movement_004.csv" + }, + "unit": null + }, + "motion_history_joint_movement_005": { + "value": { + "schema_version": 1, + "name": "joint_movement_005", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "pinky_q2", + "authored_joint_name": "pinky_q2", + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q2", + "child_body_path": "/World/AssetRoot/Asset/pinky_L2", + "parent_body_path": "/World/AssetRoot/Asset/pinky_L1", + "reference_frame": "/World/AssetRoot/Asset/pinky_L1", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_005.json", + "csv": "motion_history/joint_movement_005.csv" + }, + "unit": null + }, + "motion_history_joint_movement_006": { + "value": { + "schema_version": 1, + "name": "joint_movement_006", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "ring_q1", + "authored_joint_name": "ring_q1", + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "child_body_path": "/World/AssetRoot/Asset/ring_L1", + "parent_body_path": "/World/AssetRoot/Asset/base", + "reference_frame": "/World/AssetRoot/Asset/base", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_006.json", + "csv": "motion_history/joint_movement_006.csv" + }, + "unit": null + }, + "motion_history_joint_movement_007": { + "value": { + "schema_version": 1, + "name": "joint_movement_007", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "ring_q2", + "authored_joint_name": "ring_q2", + "prim_path": "/World/AssetRoot/Asset/joints/ring_q2", + "child_body_path": "/World/AssetRoot/Asset/ring_L2", + "parent_body_path": "/World/AssetRoot/Asset/ring_L1", + "reference_frame": "/World/AssetRoot/Asset/ring_L1", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_007.json", + "csv": "motion_history/joint_movement_007.csv" + }, + "unit": null + }, + "motion_history_joint_movement_008": { + "value": { + "schema_version": 1, + "name": "joint_movement_008", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "thumb_q1", + "authored_joint_name": "thumb_q1", + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "child_body_path": "/World/AssetRoot/Asset/thumb_L1", + "parent_body_path": "/World/AssetRoot/Asset/base", + "reference_frame": "/World/AssetRoot/Asset/base", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_008.json", + "csv": "motion_history/joint_movement_008.csv" + }, + "unit": null + }, + "motion_history_joint_movement_009": { + "value": { + "schema_version": 1, + "name": "joint_movement_009", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "thumb_q2", + "authored_joint_name": "thumb_q2", + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "child_body_path": "/World/AssetRoot/Asset/thumb_L2", + "parent_body_path": "/World/AssetRoot/Asset/thumb_L1", + "reference_frame": "/World/AssetRoot/Asset/thumb_L1", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_009.json", + "csv": "motion_history/joint_movement_009.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "light_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 54.156, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 27.983, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 932.77, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.015, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.862069, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 25, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.9186, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.040048, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 54.156, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 27.983, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 932.77, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.015, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.862069, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 25, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.9186, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.040048, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 65.656, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 11.938, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 2387.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mdl_surface_materials_with_universal": { + "value": 1, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 1, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 1, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 1, + "unit": null + }, + "mdl_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mdl_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mdl_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_render_context_order": { + "value": "mdl", + "unit": null + }, + "mdl_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_deinstanced_prims": { + "value": 35, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 56482, + "unit": null + }, + "mdl_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mdl_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 65.656, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 11.938, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 2387.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mdl_surface_materials_with_universal": { + "value": 1, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 1, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 1, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 1, + "unit": null + }, + "mdl_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mdl_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mdl_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_render_context_order": { + "value": "mdl", + "unit": null + }, + "mdl_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_deinstanced_prims": { + "value": 35, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 56482, + "unit": null + }, + "mdl_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mdl_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mimic_joint", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 38.156, + "message": "", + "metrics": { + "mim_mimic_pairs_detected": { + "value": 4, + "unit": null + }, + "mim_skipped_pairs": { + "value": 0, + "unit": null + }, + "mimic_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 2.639, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 164.94, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.109, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + 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"coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + 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angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q2", + "meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_001.json", + "csv": "motion_history/mim_follower_001.csv" + }, + "unit": null + }, + "motion_history_mim_reference_002": { + "value": { + "schema_version": 1, + "name": "mim_reference_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "middle_q1", + "follower_joint_name": "middle_q2", + "gearing": -1.0585132837295532, + "offset": 0.0, + "mimic_schema_backend": "physx", + "diagnostic_multiplier": 1.0585132837295532, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_reference_002.json", + "csv": "motion_history/mim_reference_002.csv" + }, + "unit": null + }, + "motion_history_mim_follower_002": { + "value": { + "schema_version": 1, + "name": "mim_follower_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "rad", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": 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"absolute incremental follower displacement error; not the magnitude-ratio verdict" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "ring_q1", + "follower_joint_name": "ring_q2", + "gearing": 1.0585132837295532, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": 1.0585132837295532, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "ring_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q2", + "meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_004.json", + "csv": "motion_history/mim_follower_004.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "multi_joint_coordination", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 33.516, + "message": "", + "metrics": { + "mjc_joints_without_safe_range": { + "value": [], + "unit": null + }, + "mjc_total_joints": { + "value": 10, + "unit": null + }, + "mjc_valid_joints": { + "value": 6, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "mjc_velocity_hint_fallback_joints": { + "value": 0, + "unit": null + }, + "mjc_guard_reference": { + "value": { + 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}, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 315, + "json": "motion_history/mjc_joint_008.json", + "csv": "motion_history/mjc_joint_008.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_009": { + "value": { + "schema_version": 1, + "name": "mjc_joint_009", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 315, + "json": "motion_history/mjc_joint_009.json", + "csv": "motion_history/mjc_joint_009.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 23.593, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 6.172, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 771.5, + "unit": null + }, + 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"estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_004.json", + "csv": "motion_history/sta_joint_004.csv" + }, + "unit": null + }, + "motion_history_sta_joint_005": { + "value": { + "schema_version": 1, + "name": "sta_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_005.json", + "csv": "motion_history/sta_joint_005.csv" + }, + "unit": null + }, + "motion_history_sta_joint_006": { + "value": { + "schema_version": 1, + "name": "sta_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_006.json", + "csv": "motion_history/sta_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "state_accuracy_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 138.735, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 6, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 4.345, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 60, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 72.42, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 6, + "unit": null + }, + "sta_joints_passed": { + "value": 6, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 2.755414253644305, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + }, + "motion_history_sta_joint_002": { + "value": { + "schema_version": 1, + "name": "sta_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_002.json", + "csv": "motion_history/sta_joint_002.csv" + }, + "unit": null + }, + "motion_history_sta_joint_003": { + "value": { + "schema_version": 1, + "name": "sta_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_003.json", + "csv": "motion_history/sta_joint_003.csv" + }, + "unit": null + }, + "motion_history_sta_joint_004": { + "value": { + "schema_version": 1, + "name": "sta_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_004.json", + "csv": "motion_history/sta_joint_004.csv" + }, + "unit": null + }, + "motion_history_sta_joint_005": { + "value": { + "schema_version": 1, + "name": "sta_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 259, + "json": "motion_history/sta_joint_005.json", + "csv": "motion_history/sta_joint_005.csv" + }, + "unit": null + }, + "motion_history_sta_joint_006": { + "value": { + "schema_version": 1, + "name": "sta_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 191, + "json": "motion_history/sta_joint_006.json", + "csv": "motion_history/sta_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "velocity_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 7.375, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 6, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.0, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 6, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 166.67, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.531, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 6, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 8, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + }, + "motion_history_vel_joint_002": { + "value": { + "schema_version": 1, + "name": "vel_joint_002", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 9, + "json": "motion_history/vel_joint_002.json", + "csv": "motion_history/vel_joint_002.csv" + }, + "unit": null + }, + "motion_history_vel_joint_003": { + "value": { + "schema_version": 1, + "name": "vel_joint_003", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 10, + "json": "motion_history/vel_joint_003.json", + "csv": "motion_history/vel_joint_003.csv" + }, + "unit": null + }, + "motion_history_vel_joint_004": { + "value": { + "schema_version": 1, + "name": "vel_joint_004", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 10, + "json": "motion_history/vel_joint_004.json", + "csv": "motion_history/vel_joint_004.csv" + }, + "unit": null + }, + "motion_history_vel_joint_005": { + "value": { + "schema_version": 1, + "name": "vel_joint_005", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 8, + "json": "motion_history/vel_joint_005.json", + "csv": "motion_history/vel_joint_005.csv" + }, + "unit": null + }, + "motion_history_vel_joint_006": { + "value": { + "schema_version": 1, + "name": "vel_joint_006", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 8, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "velocity_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 12.234, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 6, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.719, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 23, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 31.26, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.922, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 6, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + }, + "motion_history_vel_joint_002": { + "value": { + "schema_version": 1, + "name": "vel_joint_002", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_002.json", + "csv": "motion_history/vel_joint_002.csv" + }, + "unit": null + }, + "motion_history_vel_joint_003": { + "value": { + "schema_version": 1, + "name": "vel_joint_003", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_003.json", + "csv": "motion_history/vel_joint_003.csv" + }, + "unit": null + }, + "motion_history_vel_joint_004": { + "value": { + "schema_version": 1, + "name": "vel_joint_004", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_004.json", + "csv": "motion_history/vel_joint_004.csv" + }, + "unit": null + }, + "motion_history_vel_joint_005": { + "value": { + "schema_version": 1, + "name": "vel_joint_005", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_005.json", + "csv": "motion_history/vel_joint_005.csv" + }, + "unit": null + }, + "motion_history_vel_joint_006": { + "value": { + "schema_version": 1, + "name": "vel_joint_006", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 88, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + } + ] +} diff --git a/psyonic_ability_hand_right_large/.metadata/psyonic_ability_hand_right_large_validation.json b/psyonic_ability_hand_right_large/.metadata/psyonic_ability_hand_right_large_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..8c2a3ea9f379207979d5538ceab37be10982ce5e --- /dev/null +++ b/psyonic_ability_hand_right_large/.metadata/psyonic_ability_hand_right_large_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/ability_hand_right_large.usda": { + "features_summary": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET028_Gripper.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + } + }, + "profile_id": "Robot-Gripper", + "profile_version": "3.0.0", + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } + } +} diff --git a/psyonic_ability_hand_right_large/.thumbs/256x256/ability_hand_right_large.usda.png b/psyonic_ability_hand_right_large/.thumbs/256x256/ability_hand_right_large.usda.png new file mode 100644 index 0000000000000000000000000000000000000000..a6fc99e1e740db9cc8ccdec32a49f6e91d00000d --- /dev/null +++ b/psyonic_ability_hand_right_large/.thumbs/256x256/ability_hand_right_large.usda.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e8b3878f99db4d7227ae50710e52fe8b544d69e486f05d16793f379e5c66b4a +size 44655 diff --git a/psyonic_ability_hand_right_large/ability_hand_right_large.usda b/psyonic_ability_hand_right_large/ability_hand_right_large.usda new file mode 100644 index 0000000000000000000000000000000000000000..acfcfebc2db38d13084476864b76058f78936d47 --- /dev/null +++ b/psyonic_ability_hand_right_large/ability_hand_right_large.usda @@ -0,0 +1,1813 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/ability_hand" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/ability_hand" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/ability_hand" + string variantSetName = "PhysX" + } + } + } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.16379835, 0.06736802, 0.189187) + string asset_license = "CC-BY-4.0" + string asset_name = "ability_hand_right_large" + string asset_type = "robot" + string author = "Psyonic" + string category = "robot end effector" + double mass = 0.48654999933205545 + string qcode = "Q1340324" + int rigid_body_count = 11 + string source_file = "Psyonic/ability_hand_right_large/ability_hand_right_large.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "ability_hand" ( + kind = "component" + prepend references = [ + @./payloads/Physics/physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + string Robot = "none" + string Sensor = "none" + } + variantSets = ["Robot", "Sensor", "PhysX", "Newton", "MuJoCo"] +) +{ + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_2" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_8" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_10" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_12" + { + token visibility = "invisible" + } + } + } + } + } + } + variantSet "Robot" = { + "none" ( + prepend payload = @./payloads/Robot/none.usda@ + ) { + + } + "robot" ( + prepend payload = @./payloads/Robot/robot.usda@ + ) { + + } + } + variantSet "Sensor" = { + "none" ( + prepend payload = @./payloads/Sensor/none.usda@ + ) { + + } + "sensors" ( + prepend payload = @./payloads/Sensor/sensors.usda@ + ) { + + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/psyonic_ability_hand_right_large/com.nvidia.simready.packaging.json b/psyonic_ability_hand_right_large/com.nvidia.simready.packaging.json new file mode 100644 index 0000000000000000000000000000000000000000..801fe739a19dd900f1c302d6d851fe34729f9e93 --- /dev/null +++ b/psyonic_ability_hand_right_large/com.nvidia.simready.packaging.json @@ -0,0 +1,49 @@ +{ + "format_version": "1.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.psyonic_ability_hand_right_large.1.0.0", + "license": "CC-BY-4.0", + "metadata": [ + { + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "hash": { + "sha256": "8290bd3d7b63d5ece2153cd70ca4cf73c674b23daf3c8dbac398f87785bd63d9" + } + }, + { + "name": "com.nvidia.simready.packaging.bom.json", + "hash": { + "sha256": "39109835fe3cbdc9128efdddbf572e48090ea1b87a4e359d32655679ae55662e" + } + }, + { + "name": "com.nvidia.simready.root_usds.json", + "hash": { + "sha256": "87ce83725d0de3bf55aa9bc0c7e7aa5a8aba9001788600daf8829fc66a90dffb" + } + }, + { + "name": "license.txt", + "hash": { + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + } + }, + { + "name": "psyonic_ability_hand_right_large_benchmark.json", + "hash": { + "sha256": "506179c1cbeeeb508702df0ae9ff53c717c6c678706c948dee60804832fe76b7" + } + }, + { + "name": "psyonic_ability_hand_right_large_validation.json", + "hash": { + "sha256": "2ed1ae7fe1f991a4255ff14cdbf54df86776f1468fb0ada697135241695a4542" + } + } + ], + "content_hash": { + "sha256": "6adda47e18ad1449cbc940cfeb547ae35cbda3ee0043df7b39f5080730cf3b12" + }, + "package_hash": { + "sha256": "cf60e94d565f7b2ae9c569ae5ea9de072d0d7db53788d36daada5dd7f70ac790" + } +} diff --git a/psyonic_ability_hand_right_large/materials/mdl/OmniPBR.mdl b/psyonic_ability_hand_right_large/materials/mdl/OmniPBR.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bcd0685466a09006ac9e009969d32de43d6d04d9 --- /dev/null +++ b/psyonic_ability_hand_right_large/materials/mdl/OmniPBR.mdl @@ -0,0 +1,396 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBR_ClearCoat::*; + + +// OmniPBR // + +export material OmniPBR( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity") + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls the repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls the repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 2), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] = let { + +material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( + diffuse_color_constant: diffuse_color_constant, + diffuse_texture: diffuse_texture, + albedo_desaturation: albedo_desaturation, + albedo_add: albedo_add, + albedo_brightness: albedo_brightness, + diffuse_tint: diffuse_tint, + reflection_roughness_constant: reflection_roughness_constant, + reflection_roughness_texture_influence: reflection_roughness_texture_influence, + reflectionroughness_texture: reflectionroughness_texture, + metallic_constant: metallic_constant, + metallic_texture_influence: metallic_texture_influence, + metallic_texture: metallic_texture, + specular_level: specular_level, + enable_ORM_texture: enable_ORM_texture, + ORM_texture: ORM_texture, + ao_to_diffuse: ao_to_diffuse, + ao_texture: ao_texture, + enable_emission: enable_emission, + emissive_color: emissive_color, + emissive_color_texture: emissive_color_texture, + emissive_mask_texture: emissive_mask_texture, + emissive_intensity: emissive_intensity, + enable_opacity: enable_opacity, + opacity_texture: opacity_texture, + opacity_constant: opacity_constant, + enable_opacity_texture: enable_opacity_texture, + opacity_mode: opacity_mode, + opacity_threshold: opacity_threshold, + geometry_normal_roughness_strength: geometry_normal_roughness_strength, + bump_factor: bump_factor, + normalmap_texture: normalmap_texture, + detail_bump_factor: detail_bump_factor, + detail_normalmap_texture: detail_normalmap_texture, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v, + project_uvw: project_uvw, + world_or_object: world_or_object, + uv_space_index: uv_space_index, + texture_translate: texture_translate, + texture_rotate: texture_rotate, + texture_scale: texture_scale, + detail_texture_translate: detail_texture_translate, + detail_texture_rotate: detail_texture_rotate, + detail_texture_scale: detail_texture_scale, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials +); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/psyonic_ability_hand_right_large/materials/mdl/OmniPBRBase.mdl b/psyonic_ability_hand_right_large/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/psyonic_ability_hand_right_large/materials/mdl/OmniPBRBase.mdl @@ -0,0 +1,470 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +import ::anno::*; + +export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ + anno::hidden() +]] +{ + Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; + float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); + return math::normalize(N); +} + +export struct NormalData [[ + anno::hidden() +]] +{ + float3 normal; + float2 roughness; +}; + +export NormalData tangent_space_normal_roughness_texture( + uniform texture_2d texture + [[ + anno::description("The input texture"), + anno::usage("normal") + ]], + uniform float factor = 1.0f + [[ anno::description("Determines the degree of bumpiness") ]], + uniform bool flip_tangent_u = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + uniform bool flip_tangent_v = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + base::texture_coordinate_info uvw = base::texture_coordinate_info() + [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], + uniform float2 crop_u = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], + uniform float2 crop_v = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], + uniform tex::wrap_mode wrap_u = tex::wrap_repeat + [[ anno::description("Wrapping mode in the u direction") ]], + uniform tex::wrap_mode wrap_v = tex::wrap_repeat + [[ anno::description("Wrapping mode in the v direction") ]], + uniform bool clip = false + [[ + anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), + anno::hidden() + ]], + uniform float scale = 1. + [[ + anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float offset = 0. + [[ + anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float animation_start_time = 0. + [[ anno::description("When to start playing first frame of the animation ") ]], + uniform int2 animation_crop = int2(0, 0) + [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], + uniform tex::wrap_mode animation_wrap = tex::wrap_repeat + [[ anno::description("Defines what to do outside of regular animation time") ]], + uniform float animation_fps = 30 + [[ anno::description("Framerate to use for animation playback") ]] +) +[[ + anno::description("Interprets the color values of a bitmap as a vector in tangent space"), + anno::hidden(), + anno::noinline() +]] +{ + NormalData normalData; + normalData.roughness = float2(0); + normalData.normal = state::normal(); + + float frame = 0.0; + if(animation_crop != int2(0,0)) //only if we have an animation + { + frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation + switch ( animation_wrap) { + case tex::wrap_repeat: + frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: + math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; + break; + case tex::wrap_mirrored_repeat: + float animation_crop_2y = 2.0*animation_crop.y; + frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: + math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; + if(frame>animation_crop.y) + frame = animation_crop_2y-frame; + break; + case tex::wrap_clamp: + frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); + break; + case tex::wrap_clip: + frame += animation_crop.x; + if(frame < animation_crop.x || frame > animation_crop.y) return normalData; + break; + } + } + + if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource + factor == 0.0f) + return normalData; + { + if (clip) { + if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + bool pixel_flip_u = flip_tangent_u; + bool pixel_flip_v = flip_tangent_v; + //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile + if (wrap_u == tex::wrap_mirrored_repeat) { + if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) + pixel_flip_u = ! pixel_flip_u; + else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) + pixel_flip_u = ! pixel_flip_u; + } + if (wrap_v == tex::wrap_mirrored_repeat) { + if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) + pixel_flip_v = ! pixel_flip_v; + else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) + pixel_flip_v = ! pixel_flip_v; + } + + float3 transformed_tangent_u = uvw.tangent_u; + float3 transformed_tangent_v = uvw.tangent_v; + + if (pixel_flip_u) + transformed_tangent_u=-transformed_tangent_u; + if (pixel_flip_v) + transformed_tangent_v=-transformed_tangent_v; + + float3 tangent_space_normal; + float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); + if(normal_raw.x > 1.5) + { + // octahedron packed by OV + normal_raw.x -= 2.0; + normal_raw.x -= 0.5; + normal_raw.y -= 0.5; + tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); + normalData.roughness = float2(normal_raw.z, normal_raw.w); + } + else + { + // regular + tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; + normalData.roughness = float2(0); + } + + normalData.normal = math::normalize( + transformed_tangent_u * tangent_space_normal.x * factor + + transformed_tangent_v * tangent_space_normal.y * factor + + state::normal() * tangent_space_normal.z); + + return normalData; +} + + +export material OmniPBRBase( + + + // Albdeo // + + color diffuse_reflection_color = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Albedo Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflecitivity // + + float specular_reflection_roughness = float(0.0) [[ + anno::display_name("Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hidden() + ]], + float metalness = float(0.0) [[ + anno::display_name("Metalness"), + anno::description("Bias towards pure specular reflection"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(0.0, 1.0) + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emission_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + float emission_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::soft_range(0.0, 1000.0), + anno::enable_if("enable_emission == true") + ]], + + + // Geometry Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + float geometry_opacity = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + uniform float geometry_opacity_threshold = 0.f + [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + + + // Clearcoat // + + uniform bool enable_coat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a coat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float coat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for coat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + color coat_color = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float coat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float coat_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float2 coat_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Clearcoat aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hidden() + ]], + float coat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the coat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(0.0, 4.0) + ]], + float3 clearcoat_geometry_normal = state::normal() [[ + anno::display_name("Clearcoat Normal"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]], + float3 geometry_normal = state::normal() [[ + anno::display_name("Geometry Normal"), + anno::in_group("Geometry"), + anno::usage("normal") + ]] + +) +[[ + anno::display_name("OmniPBR Base"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Omni Materials"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = let{ + + // Diffuse Bsdf // + + color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; + + color base_color = tinted_diffuse_color; + + bsdf diffuse_bsdf = df::weighted_layer( + weight: 1.0, + layer: df::diffuse_reflection_bsdf( + tint: base_color, + roughness: float(0.0) + ), + base: bsdf(), + normal: geometry_normal + ); + + // Glossy Reflection Bsdf // + + float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); + float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); + bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: roughness_u, + roughness_v: roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf custom_curve_layer_bsdf = df::custom_curve_layer( + normal_reflectivity: 0.08, + grazing_reflectivity: 1.0, + exponent: 5.0, + weight: specular_level, + layer: ggx_smith_bsdf, + base: diffuse_bsdf, + normal: geometry_normal + ); + + bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); + + bsdf omni_PBR_bsdf = df::weighted_layer( + weight: metalness, + layer: directional_factor_bsdf, + base: custom_curve_layer_bsdf, + normal: geometry_normal + ); + + // Clear Coat // + + float coat_roughness_u = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); + float coat_roughness_v = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); + bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: coat_roughness_u, + roughness_v: coat_roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf opaque_coat = df::weighted_layer( + weight: coat_transparency, + layer: ::df::tint( + tint: coat_color, + base: omni_PBR_bsdf + ), + base: ::df::diffuse_reflection_bsdf( + tint: coat_color + ) + ); + + bsdf omni_PBR_coated_bsdf = df::fresnel_layer( + ior: coat_ior, + weight: coat_weight, + layer: coat_bsdf, + base: opaque_coat, + normal: clearcoat_geometry_normal + ); + + bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; + + color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); + + float opacity_value = geometry_opacity; + float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; + + material_emission emission = material_emission( + df::diffuse_edf(), + intensity: emission_value + ); + + material_surface surface = material_surface( + scattering: final_bsdf, + emission: emission + ); + + material_geometry geometry = material_geometry( + normal: state::rounded_corner_normal( + radius: round_edges_radius, + across_materials: round_edges_across_materials, + roundness: round_edges_roundness + ), + cutout_opacity: cutout_opacity + ); + +} in material( + surface: surface, + geometry: geometry +); diff --git a/psyonic_ability_hand_right_large/materials/mdl/OmniPBR_ClearCoat.mdl b/psyonic_ability_hand_right_large/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/psyonic_ability_hand_right_large/materials/mdl/OmniPBR_ClearCoat.mdl @@ -0,0 +1,711 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBRBase::*; + +// Functions // + + +// Returns a matrix from R,T,S. inputs // + +uniform float4x4 rotation_translation_scale( + uniform float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + uniform float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + uniform float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct a transformation matrix from euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0.0 , 0.0 , 0.0, + 0.0 , scaling.y , 0.0 , 0.0, + 0.0 , 0.0 , scaling.z , 0.0, + translation.x , translation.y , translation.z , 1.0); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0.0 , 0.0 , 0 , 1.0); + + return scale * rotate; +} + +// Returns the normal n in tangent space, given n is in internal space. // + +float3 transform_internal_to_tangent(float3 n) +{ + /* flip_tangent_v */ + return + n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ + n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ + n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); +} + +// Returns the normal n in internal space, given n is in tangent space. +float3 transform_tangent_to_internal(float3 n) +{ + return state::texture_tangent_u(0) * n.x - + state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ + state::normal() * n.z; +} + +// Returns a normal by adding a detail normal to a global normal. +export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) +{ + // http://blog.selfshadow.com/publications/blending-in-detail/ + float3 n_t = transform_internal_to_tangent(n); + float3 nd_t = transform_internal_to_tangent(nd); + n_t = n_t + float3(0.,0.,1.); + nd_t = nd_t * float3(-1.,-1.,1.); + n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; + return math::normalize(transform_tangent_to_internal(n)); +} + +base::texture_return multiply_colors( + color color_1 = color(1.0, 1.0, 1.0), + color color_2 = color(.5, .5, .5), + float weight = 1.0 + ) +[[ + anno::hidden() +]] +{ + return base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: color_2, + weight: weight, + mode: base::color_layer_multiply + )), + base: color_1 + ); +} + + +// OmniPBR Clearcoat // + +export material OmniPBR_ClearCoat( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Clearcoat // + + uniform bool enable_clearcoat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a clearcoat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float clearcoat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for clearcoat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + color clearcoat_tint = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float clearcoat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_reflection_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the clearcoat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(4.0)) + ]], + uniform float clearcoat_bump_factor = float(1.0) [[ + anno::display_name("Clearcoat Normal Map Strength"), + anno::description("Strength of normal map."), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ + anno::display_name("Clearcoat Normal Map"), + anno::description("Enables the usage of the normalmap texture"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + uniform float2 clearcoat_texture_translate = float2(0.0) [[ + anno::display_name("Clearcoat Texture Translate"), + anno::description("Controls the position of the clearcoat texture"), + anno::ui_order(1), + anno::in_group("UV") + ]], + uniform float clearcoat_texture_rotate = float(0.0) [[ + anno::display_name("Clearcoat Texture Rotate"), + anno::description("Rotates angle of the clearcoat texture in degrees"), + anno::ui_order(2), + anno::in_group("UV") + ]], + uniform float2 clearcoat_texture_scale = float2(1.0) [[ + anno::display_name("Clearcoat Texture Tiling"), + anno::description("Controls the repetition of the clearcoat texture"), + anno::ui_order(3), + anno::in_group("UV") + ]], + float clearcoat_flatten = float(1.0) [[ + anno::display_name("Clearcoat Flatten"), + anno::description("Flattens the clearcoat to even out the underlying bump maps"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR ClearCoat "), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) +]] = let { + + // UVW lookup and transformation // + base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; + + base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( + coordinate_system: the_system, + texture_space: uv_space_index, + projection_type: base::projection_cubic + ) : + base::coordinate_source( + coordinate_system: base::texture_coordinate_uvw, + texture_space: uv_space_index + ); + + base::texture_coordinate_info transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(texture_scale.x, texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), + translation: float3(texture_translate.x, texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), + translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), + translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) + ), + coordinate: uvw + ); + + // Normal calculations // + OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); + + OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: normalmap_texture, + factor: bump_factor, + uvw: transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + //flip_tangent_v: true + + ) : defaultData; + float3 the_normal = normal_data.normal; + + OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: detail_normalmap_texture, + factor: detail_bump_factor, + uvw: detail_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 detail_normal = detail_normal_data.normal; + + OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: clearcoat_normalmap_texture, + factor: clearcoat_bump_factor, + uvw: clearcoat_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 clearcoat_normal = clearcoat_normal_data.normal; + + + float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; + float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); + float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) + : flattened_clearcoat_normal; + + + // ORM Handling // + + float3 ORM_lookup = tex::lookup_float3( + tex: ORM_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + + float3 roughness_lookup = tex::lookup_float3( + tex: reflectionroughness_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; + float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); + float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), + math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); + + float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), + math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); + + // Diffuse Color Lookup and AO // + + base::texture_return base_lookup = base::file_texture( + texture: diffuse_texture, + color_offset: color(albedo_add), + color_scale: color(albedo_brightness), + mono_source: base::mono_luminance, + uvw: transformed_uvw, + clip: false + ); + + base::texture_return ao_lookup = base::file_texture( + texture: ao_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ); + + + color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; + color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); + color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; + color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; + + color base_color = multiply_colors( + color_1: tinted_diffuse, + color_2: ao_color, + weight: ao_to_diffuse + ).tint; + + + // Metalness // + + float3 metallic_lookup = tex::lookup_float3( + tex: metallic_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; + float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); + + + // Emission // + + color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? + base::file_texture( + texture: emissive_color_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : emissive_color; + + color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? + base::file_texture( + texture: emissive_mask_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : color(1.0); + + color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); + + // Opacity // + + float opacity_value = enable_opacity_texture ? base::file_texture( + texture: opacity_texture, + mono_source: opacity_mode, + uvw: transformed_uvw + ).mono : opacity_constant; + + float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; + + material base = OmniPBRBase::OmniPBRBase( + diffuse_reflection_color: base_color, + specular_reflection_aniso_roughness: reflection_roughness, + specular_level: specular_level, + metalness: metallic, + enable_emission: enable_emission, + emission_color: final_emission_color, + emission_intensity: emissive_intensity, + enable_coat: enable_clearcoat, + coat_weight: clearcoat_weight, + coat_color: clearcoat_tint, + coat_transparency: clearcoat_transparency, + coat_aniso_roughness: clearcoat_reflection_roughness2, + coat_ior: clearcoat_ior, + enable_opacity: enable_opacity, + geometry_opacity: cutout_opacity, + clearcoat_geometry_normal: final_clearcoat_normal, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials, + geometry_normal: diffuse_gloss_normal + ); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/psyonic_ability_hand_right_large/materials/mdl/aux_definitions.mdl b/psyonic_ability_hand_right_large/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/psyonic_ability_hand_right_large/materials/mdl/aux_definitions.mdl @@ -0,0 +1,3464 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +mdl 1.4; + +import ::anno::*; +export using ::base import texture_return; + +module +[[ + anno::version( 1, 2, 0), + anno::hidden(), + anno::display_name("NVIDIA auxillary definitions") +]]; + +// Support functions to simplify conversions between vector types with swizzles +// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) +// Supported return types: float, float2, float3 color + + +export annotation icon(string path); + + +//*********************************************************************************************************************** +// Constructor wrappers + +export float construct_float( + texture_return a [[ + anno::description("Input texture sample container; the mono channel is returned.") + ]]) +[[ + anno::display_name("Float from texture_return"), + anno::description("Constructs a float from the mono channel of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float"), + icon(".icons/constructor.svg"), + anno::ui_order(10000) +]] +{ return a.mono; } + +export color construct_color( + float a [[ + anno::description("Scalar value replicated into all color channels.") + ]]) +[[ + anno::display_name("Color from float"), + anno::description("Constructs a color from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10001) +]] +{ return color(a); } + +export color construct_color( + float3 a [[ + anno::description("RGB source components.") + ]]) +[[ + anno::display_name("Color from float3"), + anno::description("Constructs a color from a float3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10002) +]] +{ return color(a); } + +export color construct_color( + float r [[ + anno::description("Red channel value.") + ]], + float g [[ + anno::description("Green channel value.") + ]], + float b [[ + anno::description("Blue channel value.") + ]]) +[[ + anno::display_name("Color from floats"), + anno::description("Constructs a color from explicit red, green, and blue components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10003) +]] +{ return color(r,g,b); } + +export color construct_color( + texture_return a [[ + anno::description("Input texture sample container; the tint (RGB) channels are returned.") + ]]) +[[ + anno::display_name("Color from texture_return"), + anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10004) +]] +{ return a.tint; } + +export float4 construct_float4( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from floats"), + anno::description("Constructs a float4 from explicit x, y, z, and w components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10005) +]] +{ return float4(x,y,z,w); } + +export float4 construct_float4( + float3 xyz [[ + anno::description("Source xyz components.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from float3,float"), + anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10006) +]] +{ return float4(xyz.x,xyz.y,xyz.z,w); } + +export float3 construct_float3( + color a [[ + anno::description("Input color whose RGB channels are converted to float3.") + ]]) +[[ + anno::display_name("Float3 from color"), + anno::description("Constructs a float3 from a color value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10007) +]] +{ return float3(a); } + +export float3 construct_float3( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]]) +[[ + anno::display_name("Float3 from floats"), + anno::description("Constructs a float3 from explicit x, y, and z components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10008) +]] +{ return float3(x,y,z); } + +export float3 construct_float3( + int3 a [[ + anno::description("Input int3 converted component-wise to float3.") + ]]) +[[ + anno::display_name("Float3 from int3"), + anno::description("Constructs a float3 from an int3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10009) +]] +{ return float3(a); } + +export float2 construct_float2( + float a [[ + anno::description("Scalar value replicated into both components.") + ]]) +[[ + anno::display_name("Float2 from float"), + anno::description("Constructs a float2 from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10010) +]] +{ return float2(a); } + +export float2 construct_float2( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]]) +[[ + anno::display_name("Float2 from floats"), + anno::description("Constructs a float2 from explicit x and y components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10011) +]] +{ return float2(x,y); } + +export float2 construct_float2( + int2 a [[ + anno::description("Input int2 converted component-wise to float2.") + ]]) +[[ + anno::display_name("Float2 from int2"), + anno::description("Constructs a float2 from an int2 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10012) +]] +{ return float2(a); } + +export int3 construct_int3( + int a [[ + anno::description("Scalar value replicated into all int3 components.") + ]]) +[[ + anno::display_name("Int3 from int"), + anno::description("Constructs an int3 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int3"), + icon(".icons/constructor.svg"), + anno::ui_order(10013) +]] +{ return int3(a); } + +export int2 construct_int2( + int a [[ + anno::description("Scalar value replicated into both int2 components.") + ]]) +[[ + anno::display_name("Int2 from int"), + anno::description("Constructs an int2 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int2"), + icon(".icons/constructor.svg"), + anno::ui_order(10014) +]] +{ return int2(a); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float return type + +export float x( float2 a) +[[ + anno::display_name("X from float2"), + anno::description("Returns x from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11000) +]] +{ return a.x; } + +export float y( float2 a) +[[ + anno::display_name("Y from float2"), + anno::description("Returns y from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11010) +]] +{ return a.y; } + +export float x( float3 a) +[[ + anno::display_name("X from float3"), + anno::description("Returns x from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11001) +]] +{ return a.x; } + +export float y( float3 a) +[[ + anno::display_name("Y from float3"), + anno::description("Returns y from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11011) +]] +{ return a.y; } + +export float z( float3 a) +[[ + anno::display_name("Z from float3"), + anno::description("Returns z from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11020) +]] +{ return a.z; } + +export float x( float4 a) +[[ + anno::display_name("X from float4"), + anno::description("Returns x from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11002) +]] +{ return a.x; } + +export float y( float4 a) +[[ + anno::display_name("Y from float4"), + anno::description("Returns y from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11012) +]] +{ return a.y; } + +export float z( float4 a) +[[ + anno::display_name("Z from float4"), + anno::description("Returns z from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return a.z; } + +export float w( float4 a) +[[ + anno::display_name("W from float4"), + anno::description("Returns w from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11025) +]] +{ return a.w; } + +export float x( color a) +[[ + anno::display_name("R from color"), + anno::description("Returns r from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11003) +]] +{ return x( float3(a)); } + +export float y( color a) +[[ + anno::display_name("G from color"), + anno::description("Returns g from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11013) +]] +{ return y( float3(a)); } + +export float z( color a) +[[ + anno::display_name("B from color"), + anno::description("Returns b from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return z( float3(a)); } + +export float x( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("R from texture_return"), + anno::description("Returns r from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11004) +]] +{ return float3( a.tint).x; } + +export float y( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("G from texture_return"), + anno::description("Returns g from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11014) +]] +{ return float3( a.tint).y; } + +export float z( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("B from texture_return"), + anno::description("Returns b from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11022) +]] +{ return float3( a.tint).z; } + +export float w( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("Mono from texture_return"), + anno::description("Returns mono/alpha from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11026) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Conversions of texture_return +// All are hidden +export float4 texture_return_float4( + texture_return a [[ + anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") + ]]) +[[ + anno::display_name("float4 from texture_return"), + anno::description("Converts texture_return to float4 using tint RGB and mono as W."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float4"), + icon(".icons/component_extract.svg"), + anno::ui_order(10108) +]] +{ return float4(x(a),y(a),z(a),w(a)); } + +export float3 texture_return_float3( + texture_return a [[ + anno::description("Input texture sample container to unpack as float3 (r, g, b).") + ]]) +[[ + anno::display_name("float3 from texture_return"), + anno::description("Converts texture_return to float3 using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + icon(".icons/component_extract.svg"), + anno::ui_order(10109) +]] +{ return float3(x(a),y(a),z(a)); } + +export color texture_return_color( + texture_return a [[ + anno::description("Input texture sample container; tint RGB is returned as color.") + ]]) +[[ + anno::display_name("color from texture_return"), + anno::description("Converts texture_return to color using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Color"), + icon(".icons/component_extract.svg"), + anno::ui_order(10110) +]] +{ return a.tint; } + +export float texture_return_float( + texture_return a [[ + anno::description("Input texture sample container; mono channel is returned.") + ]]) +[[ + anno::display_name("float from texture_return"), + anno::description("Converts texture_return to float using the mono channel."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float"), + icon(".icons/component_extract.svg"), + anno::ui_order(10111) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float2 return type + +export float2 xy( float2 a) +[[ + anno::display_name("XY from float2"), + anno::description("Returns float2(x,y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11040) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float3 a) +[[ + anno::display_name("XY from float3"), + anno::description("Returns float2(x,y) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11041) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float4 a) +[[ + anno::display_name("XY from float4"), + anno::description("Returns float2(x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return float2( a.x, a.y); } + +export float2 xy( color a) +[[ + anno::display_name("XY from color"), + anno::description("Returns float2(x,y) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return xy( float3(a)); } + +export float2 xy( + texture_return a [[ + anno::description("Input texture sample container; returns the first two tint channels.") + ]]) +[[ + anno::display_name("XY from texture_return"), + anno::description("Returns float2(r, g) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return xy(texture_return_float4(a)); } + + +// The remaining are hidden +export float2 xx( float2 a) +[[ + anno::display_name("XX from float2"), + anno::description("Returns float2(x,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11030) +]] +{ return float2( a.x, a.x); } + +export float2 yx( float2 a) +[[ + anno::display_name("YX from float2"), + anno::description("Returns float2(y,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11050) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float2 a) +[[ + anno::display_name("YY from float2"), + anno::description("Returns float2(y,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11060) +]] +{ return float2( a.y, a.y); } + +export float2 xx( float3 a) +[[ + anno::display_name("XX from float3"), + anno::description("Returns float2(x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11031) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float3 a) +[[ + anno::display_name("XZ from float3"), + anno::description("Returns float2(x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11042) +]] +{ return float2( a.x, a.z); } + +export float2 yz( float3 a) +[[ + anno::display_name("YZ from float3"), + anno::description("Returns float2(y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return float2( a.y, a.z); } + +export float2 yx( float3 a) +[[ + anno::display_name("YX from float3"), + anno::description("Returns float2(y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11051) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float3 a) +[[ + anno::display_name("YY from float3"), + anno::description("Returns float2(y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11061) +]] +{ return float2( a.y, a.y); } + +export float2 zx( float3 a) +[[ + anno::display_name("ZX from float3"), + anno::description("Returns float2(z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11090) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float3 a) +[[ + anno::display_name("ZY from float3"), + anno::description("Returns float2(z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11100) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float3 a) +[[ + anno::display_name("ZZ from float3"), + anno::description("Returns float2(z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11110) +]] +{ return float2( a.z, a.z); } + +export float2 xx( float4 a) +[[ + anno::display_name("XX from float4"), + anno::description("Returns float2(x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11032) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float4 a) +[[ + anno::display_name("XZ from float4"), + anno::description("Returns float2(x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11071) +]] +{ return float2( a.x, a.z); } + +export float2 xw( float4 a) +[[ + anno::display_name("XW from float4"), + anno::description("Returns float2(x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11120) +]] +{ return float2( a.x, a.w); } + +export float2 yx( float4 a) +[[ + anno::display_name("YX from float4"), + anno::description("Returns float2(y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11052) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float4 a) +[[ + anno::display_name("YY from float4"), + anno::description("Returns float2(y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11062) +]] +{ return float2( a.y, a.y); } + +export float2 yz( float4 a) +[[ + anno::display_name("YZ from float4"), + anno::description("Returns float2(y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11081) +]] +{ return float2( a.y, a.z); } + +export float2 yw( float4 a) +[[ + anno::display_name("YW from float4"), + anno::description("Returns float2(y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11125) +]] +{ return float2( a.y, a.w); } + +export float2 zx( float4 a) +[[ + anno::display_name("ZX from float4"), + anno::description("Returns float2(z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11091) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float4 a) +[[ + anno::display_name("ZY from float4"), + anno::description("Returns float2(z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11101) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float4 a) +[[ + anno::display_name("ZZ from float4"), + anno::description("Returns float2(z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11111) +]] +{ return float2( a.z, a.z); } + +export float2 zw( float4 a) +[[ + anno::display_name("ZW from float4"), + anno::description("Returns float2(z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11127) +]] +{ return float2( a.z, a.w); } + +export float2 wx( float4 a) +[[ + anno::display_name("WX from float4"), + anno::description("Returns float2(w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11129) +]] +{ return float2( a.w, a.x); } + +export float2 wy( float4 a) +[[ + anno::display_name("WX from loat4"), + anno::description("Returns float2(w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11131) +]] +{ return float2( a.w, a.y); } + +export float2 wz( float4 a) +[[ + anno::display_name("WZ from float4"), + anno::description("Returns float2(w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11133) +]] +{ return float2( a.w, a.z); } + +export float2 ww( float4 a) +[[ + anno::display_name("WW from float4"), + anno::description("Returns float2(w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11135) +]] +{ return float2( a.w, a.w); } + +export float2 xx( color a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11033) +]] +{ return xx( float3(a)); } + +export float2 xz( color a) +[[ + anno::display_name("XZ from color"), + anno::description("Returns float2(x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11072) +]] +{ return xz( float3(a)); } + +export float2 yx( color a) +[[ + anno::display_name("YX from color"), + anno::description("Returns float2(y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11053) +]] +{ return yx( float3(a)); } + +export float2 yy( color a) +[[ + anno::display_name("YY from color"), + anno::description("Returns float2(y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11063) +]] +{ return yy( float3(a)); } + +export float2 yz( color a) +[[ + anno::display_name("YZ from color"), + anno::description("Returns float2(y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11082) +]] +{ return yz( float3(a)); } + +export float2 zx( color a) +[[ + anno::display_name("ZX from color"), + anno::description("Returns float2(z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11092) +]] +{ return zx( float3(a)); } + +export float2 zy( color a) +[[ + anno::display_name("ZY from color"), + anno::description("Returns float2(z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11102) +]] +{ return zy( float3(a)); } + +export float2 zz( color a) +[[ + anno::display_name("ZZ from color"), + anno::description("Returns float2(z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11112) +]] +{ return zz( float3(a)); } + +export float2 xx( texture_return a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11034) +]] +{ return xx(texture_return_float4(a)); } + +export float2 xz( texture_return a) +[[ + anno::display_name("XZ from texture_return"), + anno::description("Returns float2(x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11073) +]] +{ return xz(texture_return_float4(a)); } + +export float2 xw( texture_return a) +[[ + anno::display_name("XW from texture_return"), + anno::description("Returns float2(x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11121) +]] +{ return xw(texture_return_float4(a)); } + +export float2 yx( texture_return a) +[[ + anno::display_name("YX from texture_return"), + anno::description("Returns float2(y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11054) +]] +{ return yx(texture_return_float4(a)); } + +export float2 yy( texture_return a) +[[ + anno::display_name("YY from texture_return"), + anno::description("Returns float2(y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11064) +]] +{ return yy(texture_return_float4(a)); } + +export float2 yz( texture_return a) +[[ + anno::display_name("YZ from texture_return"), + anno::description("Returns float2(y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11083) +]] +{ return yz(texture_return_float4(a)); } + +export float2 yw( texture_return a) +[[ + anno::display_name("YW from texture_return"), + anno::description("Returns float2(y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11126) +]] +{ return yw(texture_return_float4(a)); } + +export float2 zx( texture_return a) +[[ + anno::display_name("ZX from texture_return"), + anno::description("Returns float2(z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11093) +]] +{ return zx(texture_return_float4(a)); } + +export float2 zy( texture_return a) +[[ + anno::display_name("ZY from texture_return"), + anno::description("Returns float2(z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11103) +]] +{ return zy(texture_return_float4(a)); } + +export float2 zz( texture_return a) +[[ + anno::display_name("ZZ from texture_return"), + anno::description("Returns float2(z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11113) +]] +{ return zz(texture_return_float4(a)); } + +export float2 zw( texture_return a) +[[ + anno::display_name("ZW from texture_return"), + anno::description("Returns float2(z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11128) +]] +{ return zw(texture_return_float4(a)); } + +export float2 wx( texture_return a) +[[ + anno::display_name("WX from texture_return.WX"), + anno::description("Returns float2(w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11130) +]] +{ return wx(texture_return_float4(a)); } + +export float2 wy( texture_return a) +[[ + anno::display_name("WY from texture_return"), + anno::description("Returns float2(w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11132) +]] +{ return wy(texture_return_float4(a)); } + +export float2 wz( texture_return a) +[[ + anno::display_name("WZ from texture_return"), + anno::description("Returns float2(w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11134) +]] +{ return wz(texture_return_float4(a)); } + +export float2 ww( texture_return a) +[[ + anno::display_name("WW from texture_return"), + anno::description("Returns float2(w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11136) +]] +{ return ww(texture_return_float4(a)); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float3 return type + +export float3 xyz( float3 a) +[[ + anno::display_name("XYZ from float3"), + anno::description("Returns float3(x,y,z) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11290) +]] +{ return float3( a.x, a.y, a.z); } + +export float3 xyz( float4 a) +[[ + anno::display_name("XYZ from float4"), + anno::description("Returns float3(x,y,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11291) +]] +{ return float3( a.x, a.y, a.z); } + + +// The remaining are hidden +export float3 yyw( float4 a) +[[ + anno::display_name("YYW from float4"), + anno::description("Returns float3(y,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11640) +]] +{ return float3( a.y, a.y, a.w); } + +export float3 xxx( float2 a) +[[ + anno::display_name("XXX from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11200) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float2 a) +[[ + anno::display_name("XXY from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11210) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xyx( float2 a) +[[ + anno::display_name("XYX from float2"), + anno::description("Returns float3(x,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11230) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float2 a) +[[ + anno::display_name("XYY from float2"), + anno::description("Returns float3(x,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11240) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 yxx( float2 a) +[[ + anno::display_name("YXX from float2"), + anno::description("Returns float3(y,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11250) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float2 a) +[[ + anno::display_name("YXY from float2"), + anno::description("Returns float3(y,x,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11260) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yyx( float2 a) +[[ + anno::display_name("YYX from float2"), + anno::description("Returns float3(y,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11270) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float2 a) +[[ + anno::display_name("YYY from float2"), + anno::description("Returns float3(y,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11280) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 xxx( float3 a) +[[ + anno::display_name("XXX from float3"), + anno::description("Returns float3(x,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11201) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float3 a) +[[ + anno::display_name("XXY from float3"), + anno::description("Returns float3(x,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11211) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float3 a) +[[ + anno::display_name("XXZ from float3"), + anno::description("Returns float3(x,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11220) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xyx( float3 a) +[[ + anno::display_name("XYX from float3"), + anno::description("Returns float3(x,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11231) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float3 a) +[[ + anno::display_name("XYY from float3"), + anno::description("Returns float3(x,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11241) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xzx( float3 a) +[[ + anno::display_name("XZX from float3"), + anno::description("Returns float3(x,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11300) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float3 a) +[[ + anno::display_name("XZY from float3"), + anno::description("Returns float3(x,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11310) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float3 a) +[[ + anno::display_name("XZZ from float3"), + anno::description("Returns float3(x,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11320) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 yxx( float3 a) +[[ + anno::display_name("YXX from float3"), + anno::description("Returns float3(y,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11251) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float3 a) +[[ + anno::display_name("YXY from float3"), + anno::description("Returns float3(y,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11261) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float3 a) +[[ + anno::display_name("YXZ from float3"), + anno::description("Returns float3(y,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11330) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yyx( float3 a) +[[ + anno::display_name("YYX from float3"), + anno::description("Returns float3(y,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11271) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float3 a) +[[ + anno::display_name("YYY from float3"), + anno::description("Returns float3(y,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11281) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float3 a) +[[ + anno::display_name("YYZ from float3"), + anno::description("Returns float3(y,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11340) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float3 a) +[[ + anno::display_name("YZX from float3"), + anno::description("Returns float3(y,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11350) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float3 a) +[[ + anno::display_name("YZY from float3.YZY"), + anno::description("Returns float3(y,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11360) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float3 a) +[[ + anno::display_name("YZZ from float3"), + anno::description("Returns float3(y,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11370) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 zxx( float3 a) +[[ + anno::display_name("ZXX from float3"), + anno::description("Returns float3(z,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11380) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float3 a) +[[ + anno::display_name("float3.ZXY"), + anno::description("Returns float3(z,x,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11390) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float3 a) +[[ + anno::display_name("ZXZ from float3"), + anno::description("Returns float3(z,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11400) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zyx( float3 a) +[[ + anno::display_name("ZYX from float3"), + anno::description("Returns float3(z,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11410) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float3 a) +[[ + anno::display_name("ZYY from float3"), + anno::description("Returns float3(z,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11420) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float3 a) +[[ + anno::display_name("ZYZ from float3"), + anno::description("Returns float3(z,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11430) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zzx( float3 a) +[[ + anno::display_name("ZZX from float3"), + anno::description("Returns float3(z,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11440) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float3 a) +[[ + anno::display_name("ZZY from float3"), + anno::description("Returns float3(z,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11450) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float3 a) +[[ + anno::display_name("ZZZ from float3"), + anno::description("Returns float3(z,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11460) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 xxx( float4 a) +[[ + anno::display_name("XXX from float4"), + anno::description("Returns float3(x,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11202) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float4 a) +[[ + anno::display_name("XXY from float4"), + anno::description("Returns float3(x,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11212) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float4 a) +[[ + anno::display_name("XXZ from float4"), + anno::description("Returns float3(x,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11222) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xxw( float4 a) +[[ + anno::display_name("XXW from float4"), + anno::description("Returns float3(x,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11227) +]] +{ return float3( a.x, a.x, a.w); } + +export float3 xyx( float4 a) +[[ + anno::display_name("XYX from float4"), + anno::description("Returns float3(x,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11232) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float4 a) +[[ + anno::display_name("XYY from float4"), + anno::description("Returns float3(x,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11242) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xyw( float4 a) +[[ + anno::display_name("XYW from float4"), + anno::description("Returns float3(x,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11295) +]] +{ return float3( a.x, a.y, a.w); } + +export float3 xzx( float4 a) +[[ + anno::display_name("XZX from float4"), + anno::description("Returns float3(x,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11301) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float4 a) +[[ + anno::display_name("XZY from float4"), + anno::description("Returns float3(x,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11311) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float4 a) +[[ + anno::display_name("XZZ from float4"), + anno::description("Returns float3(x,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 xzw( float4 a) +[[ + anno::display_name("XZW from float4"), + anno::description("Returns float3(x,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11600) +]] +{ return float3( a.x, a.z, a.w); } + +export float3 xwx( float4 a) +[[ + anno::display_name("XWX from float4"), + anno::description("Returns float3(x,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11604) +]] +{ return float3( a.x, a.w, a.x); } + +export float3 xwy( float4 a) +[[ + anno::display_name("XWY from float4"), + anno::description("Returns float3(x,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11608) +]] +{ return float3( a.x, a.w, a.y); } + +export float3 xwz( float4 a) +[[ + anno::display_name("XWZ from float4"), + anno::description("Returns float3(x,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11612) +]] +{ return float3( a.x, a.w, a.z); } + +export float3 xww( float4 a) +[[ + anno::display_name("XWW from float4"), + anno::description("Returns float3(x,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11616) +]] +{ return float3( a.x, a.w, a.w); } + +export float3 yxx( float4 a) +[[ + anno::display_name("YXX from float4"), + anno::description("Returns float3(y,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11252) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float4 a) +[[ + anno::display_name("YXY from float4"), + anno::hidden(), + anno::description("Returns float3(y,x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11262) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float4 a) +[[ + anno::display_name("YXZ from float4"), + anno::description("Returns float3(y,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11331) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yxw( float4 a) +[[ + anno::display_name("YXW from float4"), + anno::description("Returns float3(y,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11630) +]] +{ return float3( a.y, a.x, a.w); } + +export float3 yyx( float4 a) +[[ + anno::display_name("YYX from float4"), + anno::description("Returns float3(y,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11272) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float4 a) +[[ + anno::display_name("YYY from float4"), + anno::description("Returns float3(y,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11282) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float4 a) +[[ + anno::display_name("YYZ from float4"), + anno::description("Returns float3(y,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11341) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float4 a) +[[ + anno::display_name("YZX from float4"), + anno::description("Returns float3(y,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11351) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float4 a) +[[ + anno::display_name("YZY from float4"), + anno::description("Returns float3(y,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11361) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float4 a) +[[ + anno::display_name("YZZ from float4"), + anno::description("Returns float3(y,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11371) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 yzw( float4 a) +[[ + anno::display_name("YZW from float4"), + anno::description("Returns float3(y,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11650) +]] +{ return float3( a.y, a.z, a.w); } + +export float3 ywx( float4 a) +[[ + anno::display_name("YWX from float4"), + anno::description("Returns float3(y,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11653) +]] +{ return float3( a.y, a.w, a.x); } + +export float3 ywy( float4 a) +[[ + anno::display_name("YWY from float4"), + anno::description("Returns float3(y,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11656) +]] +{ return float3( a.y, a.w, a.y); } + +export float3 ywz( float4 a) +[[ + anno::display_name("YWZ from float4"), + anno::description("Returns float3(y,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11658) +]] +{ return float3( a.y, a.w, a.z); } + +export float3 yww( float4 a) +[[ + anno::display_name("YWW from float4"), + anno::description("Returns float3(y,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11661) +]] +{ return float3( a.y, a.w, a.w); } + +export float3 zxx( float4 a) +[[ + anno::display_name("ZXX from float4"), + anno::description("Returns float3(z,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11381) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float4 a) +[[ + anno::display_name("ZXY from float4"), + anno::description("Returns float3(z,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11391) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float4 a) +[[ + anno::display_name("ZXZ from float4"), + anno::description("Returns float3(z,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11401) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zxw( float4 a) +[[ + anno::display_name("ZXW from float4"), + anno::description("Returns float3(z,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11671) +]] +{ return float3( a.z, a.x, a.w); } + +export float3 zyx( float4 a) +[[ + anno::display_name("ZYX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11411) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float4 a) +[[ + anno::display_name("ZYY from float4"), + anno::description("Returns float3(z,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11421) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float4 a) +[[ + anno::display_name("ZYZ from float4"), + anno::description("Returns float3(z,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11431) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zyw( float4 a) +[[ + anno::display_name("ZYW from float4"), + anno::description("Returns float3(z,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return float3( a.z, a.y, a.w); } + +export float3 zzx( float4 a) +[[ + anno::display_name("ZZX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11441) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float4 a) +[[ + anno::display_name("ZZY from float4"), + anno::description("Returns float3(z,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11451) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float4 a) +[[ + anno::display_name("ZZZ from float4"), + anno::hidden(), + anno::description("Returns float3(z,z,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11461) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 zzw( float4 a) +[[ + anno::display_name("ZZW from float4"), + anno::description("Returns float3(z,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11465) +]] +{ return float3( a.z, a.z, a.w); } + +export float3 zwx( float4 a) +[[ + anno::display_name("ZWX from float4"), + anno::description("Returns float3(z,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return float3( a.z, a.w, a.x); } + +export float3 zwy( float4 a) +[[ + anno::display_name("ZWY from float4"), + anno::description("Returns float3(z,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11471) +]] +{ return float3( a.z, a.w, a.y); } + +export float3 zwz( float4 a) +[[ + anno::display_name("ZWZ from float4"), + anno::description("Returns float3(z,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11475) +]] +{ return float3( a.z, a.w, a.z); } + +export float3 zww( float4 a) +[[ + anno::display_name("ZWW from float4"), + anno::description("Returns float3(z,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11479) +]] +{ return float3( a.z, a.w, a.w); } + +export float3 wxx( float4 a) +[[ + anno::display_name("WXX from float4"), + anno::description("Returns float3(w,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11483) +]] +{ return float3( a.w, a.x, a.x); } + +export float3 wxy( float4 a) +[[ + anno::display_name("WXY from float4"), + anno::description("Returns float3(w,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11487) +]] +{ return float3( a.w, a.x, a.y); } + +export float3 wxz( float4 a) +[[ + anno::display_name("WXZ from float4"), + anno::description("Returns float3(w,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11490) +]] +{ return float3( a.w, a.x, a.z); } + +export float3 wxw( float4 a) +[[ + anno::display_name("WXW from float4"), + anno::description("Returns float3(w,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11496) +]] +{ return float3( a.w, a.x, a.w); } + +export float3 wyx( float4 a) +[[ + anno::display_name("WYX from float4"), + anno::description("Returns float3(w,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11503) +]] +{ return float3( a.w, a.y, a.x); } + +export float3 wyy( float4 a) +[[ + anno::display_name("WYY from float4"), + anno::description("Returns float3(w,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11507) +]] +{ return float3( a.w, a.y, a.y); } + +export float3 wyz( float4 a) +[[ + anno::display_name("WYZ from float4"), + anno::description("Returns float3(w,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11510) +]] +{ return float3( a.w, a.y, a.z); } + +export float3 wyw( float4 a) +[[ + anno::display_name("WYW from float4"), + anno::description("Returns float3(w,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11514) +]] +{ return float3( a.w, a.y, a.w); } + +export float3 wzx( float4 a) +[[ + anno::display_name("WZX from float4"), + anno::description("Returns float3(w,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11518) +]] +{ return float3( a.w, a.z, a.x); } + +export float3 wzy( float4 a) +[[ + anno::display_name("WZY from float4"), + anno::description("Returns float3(w,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11521) +]] +{ return float3( a.w, a.z, a.y); } + +export float3 wzz( float4 a) +[[ + anno::display_name("WZZ from float4"), + anno::description("Returns float3(w,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11524) +]] +{ return float3( a.w, a.z, a.z); } + +export float3 wzw( float4 a) +[[ + anno::display_name("WZW from float4"), + anno::description("Returns float3(w,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11529) +]] +{ return float3( a.w, a.z, a.w); } + +export float3 wwx( float4 a) +[[ + anno::display_name("WWX from float4"), + anno::description("Returns float3(w,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return float3( a.w, a.w, a.x); } + +export float3 wwy( float4 a) +[[ + anno::display_name("WWY from float4"), + anno::hidden(), + anno::description("Returns float3(w,w,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11537) +]] +{ return float3( a.w, a.w, a.y); } + +export float3 wwz( float4 a) +[[ + anno::display_name("WWZ from float4"), + anno::description("Returns float3(w,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return float3( a.w, a.w, a.z); } + +export float3 www( float4 a) +[[ + anno::display_name("WWW from float4"), + anno::description("Returns float3(w,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11544) +]] +{ return float3( a.w, a.w, a.w); } + +export float3 xxx( color a) +[[ + anno::display_name("XXX from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11203) +]] +{ return xxx( float3(a)); } + +export float3 xxy( color a) +[[ + anno::display_name("XXY from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11213) +]] +{ return xxy( float3(a)); } + +export float3 xxz( color a) +[[ + anno::display_name("XXZ from color"), + anno::description("Returns float3(x,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11223) +]] +{ return xxz( float3(a)); } + +export float3 xyx( color a) +[[ + anno::display_name("XYX from color"), + anno::description("Returns float3(x,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11233) +]] +{ return xyx( float3(a)); } + +export float3 xyy( color a) +[[ + anno::display_name("XYY from color"), + anno::description("Returns float3(x,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11243) +]] +{ return xyy( float3(a)); } + +export float3 xyz( color a) +[[ + anno::display_name("XYZ from color"), + anno::description("Returns float3(x,y,z) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11292) +]] +{ return xyz( float3(a)); } + +export float3 xzx( color a) +[[ + anno::display_name("XZX from color"), + anno::description("Returns float3(x,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11302) +]] +{ return xzx( float3(a)); } + +export float3 xzy( color a) +[[ + anno::display_name("XZY from color"), + anno::description("Returns float3(x,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11312) +]] +{ return xzy( float3(a)); } + +export float3 xzz( color a) +[[ + anno::display_name("XZZ from color"), + anno::description("Returns float3(x,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11323) +]] +{ return xzz( float3(a)); } + +export float3 yxx( color a) +[[ + anno::display_name("YXX from color"), + anno::description("Returns float3(y,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11253) +]] +{ return yxx( float3(a)); } + +export float3 yxy( color a) +[[ + anno::display_name("YXY from color"), + anno::description("Returns float3(y,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11263) +]] +{ return yxy( float3(a)); } + +export float3 yxz( color a) +[[ + anno::display_name("YXZ from color"), + anno::description("Returns float3(y,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11332) +]] +{ return yxz( float3(a)); } + +export float3 yyx( color a) +[[ + anno::display_name("YYX from color"), + anno::description("Returns float3(y,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11273) +]] +{ return yyx( float3(a)); } + +export float3 yyy( color a) +[[ + anno::display_name("YYY from color"), + anno::description("Returns float3(y,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11283) +]] +{ return yyy( float3(a)); } + +export float3 yyz( color a) +[[ + anno::display_name("YYZ from color"), + anno::description("Returns float3(y,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11342) +]] +{ return yyz( float3(a)); } + +export float3 yzx( color a) +[[ + anno::display_name("YZX from color"), + anno::description("Returns float3(y,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11352) +]] +{ return yzx( float3(a)); } + +export float3 yzy( color a) +[[ + anno::display_name("YZY from color"), + anno::description("Returns float3(y,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11362) +]] +{ return yzy( float3(a)); } + +export float3 yzz( color a) +[[ + anno::display_name("YZZ from color"), + anno::description("Returns float3(y,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11372) +]] +{ return yzz( float3(a)); } + +export float3 zxx( color a) +[[ + anno::display_name("ZXX from color"), + anno::description("Returns float3(z,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11382) +]] +{ return zxx( float3(a)); } + +export float3 zxy( color a) +[[ + anno::display_name("ZXY from color"), + anno::description("Returns float3(z,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11392) +]] +{ return zxy( float3(a)); } + +export float3 zxz( color a) +[[ + anno::display_name("ZXZ from color"), + anno::description("Returns float3(z,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11402) +]] +{ return zxz( float3(a)); } + +export float3 zyx( color a) +[[ + anno::display_name("ZYX from color"), + anno::description("Returns float3(z,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11412) +]] +{ return zyx( float3(a)); } + +export float3 zyy( color a) +[[ + anno::display_name("ZYY from color"), + anno::description("Returns float3(z,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11422) +]] +{ return zyy( float3(a)); } + +export float3 zyz( color a) +[[ + anno::display_name("ZYZ from color"), + anno::description("Returns float3(z,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return zyz( float3(a)); } + +export float3 zzx( color a) +[[ + anno::display_name("ZZX from color"), + anno::description("Returns float3(z,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11442) +]] +{ return zzx( float3(a)); } + +export float3 zzy( color a) +[[ + anno::display_name("ZZY from color"), + anno::description("Returns float3(z,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11452) +]] +{ return zzy( float3(a)); } + +export float3 zzz( color a) +[[ + anno::display_name("ZZZ from color"), + anno::description("Returns float3(z,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11462) +]] +{ return zzz( float3(a)); } + +export float3 xxx( texture_return a) +[[ + anno::display_name("XXX from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11204) +]] +{ return xxx(texture_return_float4(a)); } + +export float3 xxy( texture_return a) +[[ + anno::display_name("XXY from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11214) +]] +{ return xxy(texture_return_float4(a)); } + +export float3 xxz( texture_return a) +[[ + anno::display_name("XXZ from texture_return"), + anno::description("Returns float3(x,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11224) +]] +{ return xxz(texture_return_float4(a)); } + +export float3 xxw( texture_return a) +[[ + anno::display_name("XXW from texture_return"), + anno::description("Returns float3(x,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11229) +]] +{ return xxw(texture_return_float4(a)); } + +export float3 xyx( texture_return a) +[[ + anno::display_name("XYX from texture_return"), + anno::description("Returns float3(x,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11234) +]] +{ return xyx(texture_return_float4(a)); } + +export float3 xyy( texture_return a) +[[ + anno::display_name("XYY from texture_return"), + anno::description("Returns float3(x,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11244) +]] +{ return xyy(texture_return_float4(a)); } + +export float3 xyz( texture_return a) +[[ + anno::display_name("XYZ from texture_return"), + anno::description("Returns float3(x,y,z) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11293) +]] +{ return xyz(texture_return_float4(a)); } + +export float3 xyw( texture_return a) +[[ + anno::display_name("XYW from texture_return"), + anno::description("Returns float3(x,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11296) +]] +{ return xyw(texture_return_float4(a)); } + +export float3 xzx( texture_return a) +[[ + anno::display_name("XZX from texture_return"), + anno::description("Returns float3(x,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11303) +]] +{ return xzx(texture_return_float4(a)); } + +export float3 xzy( texture_return a) +[[ + anno::display_name("XZY from texture_return"), + anno::description("Returns float3(x,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1131) +]] +{ return xzy(texture_return_float4(a)); } + +export float3 xzz( texture_return a) +[[ + anno::display_name("XZZ from texture_return"), + anno::description("Returns float3(x,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return xzz(texture_return_float4(a)); } + +export float3 xzw( texture_return a) +[[ + anno::display_name("XZW from texture_return"), + anno::description("Returns float3(x,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11601) +]] +{ return xzw(texture_return_float4(a)); } + +export float3 xwx( texture_return a) +[[ + anno::display_name("XWX from texture_return"), + anno::description("Returns float3(x,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11605) +]] +{ return xwx(texture_return_float4(a)); } + +export float3 xwy( texture_return a) +[[ + anno::display_name("XWY from texture_return"), + anno::description("Returns float3(x,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11609) +]] +{ return xwy(texture_return_float4(a)); } + +export float3 xwz( texture_return a) +[[ + anno::display_name("XWZ from texture_return"), + anno::description("Returns float3(x,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11613) +]] +{ return xwz(texture_return_float4(a)); } + +export float3 xww( texture_return a) +[[ + anno::display_name("XWW from texture_return"), + anno::description("Returns float3(x,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11617) +]] +{ return xww(texture_return_float4(a)); } + +export float3 yxx( texture_return a) +[[ + anno::display_name("YXX from texture_return"), + anno::description("Returns float3(y,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11254) +]] +{ return yxx(texture_return_float4(a)); } + +export float3 yxy( texture_return a) +[[ + anno::display_name("YXY from texture_return"), + anno::description("Returns float3(y,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11264) +]] +{ return yxy(texture_return_float4(a)); } + +export float3 yxz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11333) +]] +{ return yxz(texture_return_float4(a)); } + +export float3 yxw( texture_return a) +[[ + anno::display_name("YXW from texture_return"), + anno::description("Returns float3(y,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11631) +]] +{ return yxw(texture_return_float4(a)); } + +export float3 yyx( texture_return a) +[[ + anno::display_name("YYX from texture_return"), + anno::description("Returns float3(y,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11274) +]] +{ return yyx(texture_return_float4(a)); } + +export float3 yyy( texture_return a) +[[ + anno::display_name("YYY from texture_return"), + anno::description("Returns float3(y,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11284) +]] +{ return yyy(texture_return_float4(a)); } + +export float3 yyz( texture_return a) +[[ + anno::display_name("YYZ from texture_return"), + anno::description("Returns float3(y,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11344) +]] +{ return yyz(texture_return_float4(a)); } + +export float3 yyw( texture_return a) +[[ + anno::display_name("YYW from texture_return"), + anno::description("Returns float3(y,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11641) +]] +{ return yyw(texture_return_float4(a)); } + +export float3 yzx( texture_return a) +[[ + anno::display_name("YZX from texture_return"), + anno::description("Returns float3(y,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11354) +]] +{ return yzx(texture_return_float4(a)); } + +export float3 yzy( texture_return a) +[[ + anno::display_name("YZY from texture_return"), + anno::description("Returns float3(y,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11363) +]] +{ return yzy(texture_return_float4(a)); } + +export float3 yzz( texture_return a) +[[ + anno::display_name("YZZ from texture_return"), + anno::description("Returns float3(y,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11373) +]] +{ return yzz(texture_return_float4(a)); } + +export float3 yzw( texture_return a) +[[ + anno::display_name("YZW from texture_return"), + anno::description("Returns float3(y,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11651) +]] +{ return yzw(texture_return_float4(a)); } + +export float3 ywx( texture_return a) +[[ + anno::display_name("YWX from texture_return"), + anno::description("Returns float3(y,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11654) +]] +{ return ywx(texture_return_float4(a)); } + +export float3 ywy( texture_return a) +[[ + anno::display_name("YWY from texture_return"), + anno::description("Returns float3(y,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11657) +]] +{ return ywy(texture_return_float4(a)); } + +export float3 ywz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11659) +]] +{ return ywz(texture_return_float4(a)); } + +export float3 yww( texture_return a) +[[ + anno::display_name("YWW from texture_return"), + anno::description("Returns float3(y,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11662) +]] +{ return yww(texture_return_float4(a)); } + +export float3 zxx( texture_return a) +[[ + anno::display_name("ZXX from texture_return"), + anno::description("Returns float3(z,x,x) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11383) +]] +{ return zxx(texture_return_float4(a)); } + +export float3 zxy( texture_return a) +[[ + anno::display_name("ZXY from texture_return"), + anno::description("Returns float3(z,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11394) +]] +{ return zxy(texture_return_float4(a)); } + +export float3 zxz( texture_return a) +[[ + anno::display_name("ZXZ from texture_return"), + anno::description("Returns float3(z,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11403) +]] +{ return zxz(texture_return_float4(a)); } + +export float3 zxw( texture_return a) +[[ + anno::display_name("ZXW from texture_return"), + anno::description("Returns float3(z,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11672) +]] +{ return zxw(texture_return_float4(a)); } + +export float3 zyx( texture_return a) +[[ + anno::display_name("ZYX from texture_return"), + anno::description("Returns float3(z,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11413) +]] +{ return zyx(texture_return_float4(a)); } + +export float3 zyy( texture_return a) +[[ + anno::display_name("ZYY from texture_return"), + anno::description("Returns float3(z,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11423) +]] +{ return zyy(texture_return_float4(a)); } + +export float3 zyz( texture_return a) +[[ + anno::display_name("ZYZ from texture_return"), + anno::description("Returns float3(z,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyz(texture_return_float4(a)); } + +export float3 zyw( texture_return a) +[[ + anno::display_name("ZYW from texture_return"), + anno::description("Returns float3(z,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyw(texture_return_float4(a)); } + +export float3 zzx( texture_return a) +[[ + anno::display_name("ZZX from texture_return"), + anno::description("Returns float3(z,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11443) +]] +{ return zzx(texture_return_float4(a)); } + +export float3 zzy( texture_return a) +[[ + anno::display_name("ZZY from texture_return"), + anno::description("Returns float3(z,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11453) +]] +{ return zzy(texture_return_float4(a)); } + +export float3 zzz( texture_return a) +[[ + anno::display_name("ZZZ from texture_return"), + anno::description("Returns float3(z,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11463) +]] +{ return zzz(texture_return_float4(a)); } + +export float3 zzw( texture_return a) +[[ + anno::display_name("ZZW from texture_return"), + anno::description("Returns float3(z,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11466) +]] +{ return zzw(texture_return_float4(a)); } + +export float3 zwx( texture_return a) +[[ + anno::display_name("ZWX from texture_return"), + anno::description("Returns float3(z,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return zwx(texture_return_float4(a)); } + +export float3 zwy( texture_return a) +[[ + anno::display_name("ZWY from texture_return"), + anno::description("Returns float3(z,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11472) +]] +{ return zwy(texture_return_float4(a)); } + +export float3 zwz( texture_return a) +[[ + anno::display_name("ZWZ from texture_return"), + anno::description("Returns float3(z,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11476) +]] +{ return zwz(texture_return_float4(a)); } + +export float3 zww( texture_return a) +[[ + anno::display_name("texture_return.ZWW"), + anno::description("Returns float3(z,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11480) +]] +{ return zww(texture_return_float4(a)); } + +export float3 wxx( texture_return a) +[[ + anno::display_name("WXX from texture_return"), + anno::description("Returns float3(w,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11484) +]] +{ return wxx(texture_return_float4(a)); } + +export float3 wxy( texture_return a) +[[ + anno::display_name("WXY from texture_return"), + anno::description("Returns float3(w,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11488) +]] +{ return wxy(texture_return_float4(a)); } + +export float3 wxz( texture_return a) +[[ + anno::display_name("WXZ from texture_return"), + anno::description("Returns float3(w,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11493) +]] +{ return wxz(texture_return_float4(a)); } + +export float3 wxw( texture_return a) +[[ + anno::display_name("WXW from texture_return"), + anno::description("Returns float3(w,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11500) +]] +{ return wxw(texture_return_float4(a)); } + +export float3 wyx( texture_return a) +[[ + anno::display_name("WYX from texture_return"), + anno::description("Returns float3(w,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1150) +]] +{ return wyx(texture_return_float4(a)); } + +export float3 wyy( texture_return a) +[[ + anno::display_name("WYY from texture_return"), + anno::description("Returns float3(w,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11508) +]] +{ return wyy(texture_return_float4(a)); } + +export float3 wyz( texture_return a) +[[ + anno::display_name("WYZ from texture_return"), + anno::description("Returns float3(w,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11511) +]] +{ return wyz(texture_return_float4(a)); } + +export float3 wyw( texture_return a) +[[ + anno::display_name("WYW from texture_return"), + anno::description("Returns float3(w,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11515) +]] +{ return wyw(texture_return_float4(a)); } + +export float3 wzx( texture_return a) +[[ + anno::display_name("WZX from texture_return"), + anno::description("Returns float3(w,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11519) +]] +{ return wzx(texture_return_float4(a)); } + +export float3 wzy( texture_return a) +[[ + anno::display_name("WZY from texture_return"), + anno::description("Returns float3(w,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11522) +]] +{ return wzy(texture_return_float4(a)); } + +export float3 wzz( texture_return a) +[[ + anno::display_name("WZZ from texture_return"), + anno::description("Returns float3(w,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11525) +]] +{ return wzz(texture_return_float4(a)); } + +export float3 wzw( texture_return a) +[[ + anno::display_name("WZW from texture_return"), + anno::description("Returns float3(w,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11530) +]] +{ return wzw(texture_return_float4(a)); } + +export float3 wwx( texture_return a) +[[ + anno::display_name("WWWX from texture_return"), + anno::description("Returns float3(w,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return wwx(texture_return_float4(a)); } + +export float3 wwy( texture_return a) +[[ + anno::display_name("WWY from texture_return"), + anno::description("Returns float3(w,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11538) +]] +{ return wwy(texture_return_float4(a)); } + +export float3 wwz( texture_return a) +[[ + anno::display_name("WWZ from texture_return"), + anno::description("Returns float3(w,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return wwz(texture_return_float4(a)); } + +export float3 www( texture_return a) +[[ + anno::display_name("WWW from texture_return"), + anno::description("Returns float3(w,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11545) +]] +{ return www(texture_return_float4(a)); } diff --git a/psyonic_ability_hand_right_large/materials/mdl/core_definitions.mdl b/psyonic_ability_hand_right_large/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/psyonic_ability_hand_right_large/materials/mdl/core_definitions.mdl @@ -0,0 +1,5806 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +// The "//group ... //endgroup" comments are used during the +// procedural creation of this module's documentation. +mdl 1.8; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::limits::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +export using ::base import texture_return; +export using ::base import mono_mode; +export using ::base import color_layer_mode; +import support_definitions::*; +module [[ + anno::version( 2, 2, 0), + anno::display_name("NVIDIA core definitions") +]]; + +export annotation icon(string path); + +const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; + +//some local functions, dont document + +// https://www.shadertoy.com/view/4djSRW +float2 hash22(float2 p) +{ + float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); + p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); + return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); +} + +// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. +// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. +// https://dept-info.labri.fr/~schlick/DOC/gem2.html +float schlick_gain(float x, float r) +{ + float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch + float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); + return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); +} + +// blend two normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +export float3 blend_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), + anno::soft_range(0.0,1.0) + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), + anno::soft_range(0.0,1.0) + ]] +) +[[ + anno::description("Blend two normals or apply a detail normal map"), + anno::display_name("Blend normals"), + anno::thumbnail(".thumbs/blend_normals.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT)]] +{ + return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); +} +// blend 3 normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +//TODO: make public? +float3 blend_3_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]], + float3 detail_normal2 = state::normal() + [[ + anno::description("The detail normal2") + ]], + float detail_normal_weight2 = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]] +) +[[ + anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), + anno::noinline() +]] +{ + float3 tu = state::texture_tangent_u(0); + float3 tv = state::texture_tangent_v(0); + float3 n = state::normal(); + + float w1 = math::saturate(base_normal_weight); + float w2 = math::saturate(detail_normal_weight); + float w3 = math::saturate(detail_normal_weight2); + + float3 n1_t = math::normalize( + float3(math::dot(tu, base_normal) * w1, + math::dot(tv, base_normal) * w1, + math::dot(n, base_normal) * w1 + 1.0f - w1)); + float3 n2_t = math::normalize( + float3(math::dot(tu, detail_normal) * w2, + math::dot(tv, detail_normal) * w2, + math::dot(n, detail_normal) * w2 + 1.0f - w2)); + float3 n3_t = math::normalize( + float3(math::dot(tu, detail_normal2) * w3, + math::dot(tv, detail_normal2) * w3, + math::dot(n, detail_normal2) * w3 + 1.0f - w3)); + + n1_t.z += 1.0f; + n2_t.x = -n2_t.x; + n2_t.y = -n2_t.y; + + float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; + + n12_t.z+= 1.0f; + n3_t.x = -n3_t.x; + n3_t.y = -n3_t.y; + float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; + + return math::normalize( + tu * n_t.x + + tv * n_t.y + + n * n_t.z); +} + +// blend 3 normals by blending the gradients +// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of +// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 +// http://jcgt.org/published/0009/03/04/ +float3 gradient_blend_3_normals( + float3 normal1 = state::normal(), + float normal1_weight = 1.0, + float3 normal2 = state::normal(), + float normal2_weight = 1.0, + float3 normal3 = state::normal(), + float normal3_weight = 1.0 +) +{ + float w1 = math::saturate(normal1_weight); + float w2 = math::saturate(normal2_weight); + float w3 = math::saturate(normal3_weight); + + // normal to gradient + float3 n = state::normal(); + float d1 = math::dot(n, normal1); + float d2 = math::dot(n, normal2); + float d3 = math::dot(n, normal3); + float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); + float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); + float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); + + // blend + float3 gg = w1 * g1 + w2 * g2 + w3 * g3; + + // gradient to normal + return math::normalize(n - gg); +} + +struct complex_ior +{ + color n; //refractive index + color k; //extinction coefficient +}; + + +//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. +complex_ior artistic_metal_to_complex_ior( + color reflectivity, + color edge_tint) +{ + float epsilon = 1.e-2; + color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); + color g = edge_tint; + + color r_sqrt = math::sqrt(r); + color n_min = (1.0f - r) / (1.0f + r); + color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); + + color n = math::lerp(n_max, n_min, g); + + color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); + k2 = math::max(k2, 0.0f); + color k = math::sqrt(k2); + + return complex_ior(n, k); +} + + + +float3x3 axis_rotation_matrix(float3 a, float r) +{ + float[2] sc = math::sincos(r); + float s = sc[0]; + float c = sc[1]; + float omc = 1.0 - c; + return float3x3( + a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, + a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, + a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c + ); +} +float3 transform_rotate(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return p*rotate; + +} +float3 transform_rotate_inv(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return rotate*p; + +} + +//group Enumerations + +export enum material_type +[[ + anno::display_name("User interface group"), + anno::description("User interface grouping hint for materials"), + anno::hidden() +]] +{ + simple_material + [[ anno::description("Simple material") ]], + complex_material + [[ anno::description("Complex material") ]], + combiner_material + [[ anno::description("Combiner material") ]], + modifier_material + [[ anno::description("Material modifier") ]] +}; + +export enum emission_type +[[ + anno::display_name("Emission mode"), + anno::description("Emission mode definition for light sources"), + anno::hidden() +]] +{ + lumen_m2 + [[ anno::description("lumen/m2") ]], + lumen + [[ anno::description("lumen") ]], + candela + [[ anno::description("candela") ]], + nit + [[ anno::description("nit (candela/m2)") ]] +}; + +export enum cell_type +[[ + anno::display_name("Worley noise cell type"), + anno::description("Behavior of the Worley noise cell"), + anno::hidden() +]] +{ + simple_cells = 0 + [[ anno::description("Simple cells") ]], + crystal_cells = 1 + [[ anno::description("Crystal cells") ]], + bordered_cells = 2 + [[ anno::description("Bordered cells") ]] +}; + +export enum cell_base +[[ + anno::display_name("Worley noise cell shape"), + anno::description("Shape of the Worley noise cell"), + anno::hidden() +]] +{ + circular_cells = 0 + [[ anno::description("Circle base") ]], + diamond_cells = 1 + [[ anno::description("Diamond base") ]] +}; + +export enum displacement_vector_space +[[ + anno::display_name("Displacement mode"), + anno::description("Displacement Mode"), + anno::hidden() +]] +{ + // displacement_height = 0 // reserve this for now + // [[ anno::display_name("Height") ]], + + displacement_vector_tangent_space = 1 + [[ anno::display_name("Vector, Tangent Space") ]], + + displacement_vector_object_space = 2 + [[ anno::display_name("Vector, Object Space") ]], + + displacement_vector_world_space = 3 + [[ anno::display_name("Vector, World Space") ]] +}; + +//endgroup + +float3 transform_displacement_vector( + float3 displacement = float3(0.0) + [[ anno::description("Displacement vector") ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ anno::description("Space of the displacement vector") ]], + float scale = 1.0f + [[ anno::description("Displacement scale") ]] +) +[[ + anno::description("Transform input displacement vector to dispacement offset"), + anno::hidden() +]] +{ + float3 result; + switch (space) + { + // case displacement_height: + // result = state::normal() * displacement * scale; + // break; + + case displacement_vector_tangent_space: + result = state::texture_tangent_u(0) * displacement[0] * scale + + state::texture_tangent_v(0) * displacement[2] * scale + + state::normal() * displacement[1] * scale; + break; + + case displacement_vector_object_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_object, + displacement * scale + ); + break; + + case displacement_vector_world_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_world, + displacement * scale + ); + break; + + default: + result = state::position(); + break; + } + + return result; +} + +float4x4 rotation_translation_scale( + float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct transformation matrix from Euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0. , 0. , 0., + 0. , scaling.y , 0. , 0., + 0. , 0. , scaling.z , 0., + translation.x , translation.y , translation.z , 1.); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0. , 0. , 0. , 1.); + + return scale*rotate; +} + +export annotation suitable_as_light(); +export annotation type_of_material(material_type type); +export annotation dimension(float dimension); +export annotation dimension(float2 dimension); +export annotation dimension(float3 dimension); + + +//group Texturing functions + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +blend_colors( + color color_1 = color(0.0) + [[ anno::display_name("Color 1") ]], + color color_2 = color(1.0) + [[ anno::display_name("Color 2") ]], + uniform color_layer_mode mode = color_layer_blend + [[ + anno::description("Describes how Color 1 and Color 2 are combined"), + anno::display_name("Blend mode") + ]], + float weight = 1. + [[ + anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), + anno::display_name("Blend weight"), + anno::soft_range(0.0,1.0) + ]], + uniform bool linear_blend = true + [[ + anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), + anno::display_name("Linear blend") + ]] +) +[[ + anno::display_name("Blend colors"), + anno::description("Allows combining textures and colors in varied ways"), + anno::thumbnail(".thumbs/blend_colors.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + color c1 = linear_blend? color_1: math::pow(color_1,0.45); + color c2 = linear_blend? color_2: math::pow(color_2,0.45); + float w = linear_blend? weight: math::pow(weight,0.45); + texture_return r = base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: c2, + weight: w, + mode: mode + )), + base: c1 + ); + return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(0) + ]], + uniform mono_mode mono_source = mono_average + [[ + anno::display_name("Scalar mode"), + anno::description("Defines how the texture applies to scalar parameters"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(1) + ]], + uniform float brightness = 1. + [[ + anno::display_name("Brightness"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0) + ]], + uniform float contrast = 1. + [[ + anno::display_name("Contrast"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(5) + ]], + uniform bool invert = false + [[ + anno::description("Invert image"), + anno::display_name("Invert image"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return invert == false? base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(0.5*brightness-0.5*contrast*brightness), + color_scale: color(brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ): base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), + color_scale: color(-brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ); +} +export color triplanar_file_texture( + uniform texture_2d texture_1 + [[ + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4), + anno::description("Optional texture used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::description("Optional texture used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::hard_range(0.0,1.0) + ]], + uniform color mean = color(0.0) + [[ + anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), + anno::display_name("Mean color"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15), + anno::hard_range(color(0.0),color(1.0)) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]] +) +[[ + anno::display_name("Triplanar Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position = state::transform_point(state::coordinate_internal, space, state::position()); + //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) + normal = transform_rotate(normal, math::radians(rotate_origin)); + position = transform_rotate(position, math::radians(rotate_origin)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + //weights = math::saturate(weights-float3(1.-blend_range)); + + weights /=float3(weights.x+weights.y+weights.z); + + + float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + + color c1 = weights.x>0? + support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) + :color(0.); + color c2 = weights.y>0? tex::texture_isvalid(texture_2)? + support_definitions::lookup_color( + texture_2, + support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) + :color(0.); + color c3 = weights.z>0? tex::texture_isvalid(texture_3)? + support_definitions::lookup_color( + texture_3, + support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) + :color(0.); + return mean == color(0.0)? + c1*weights.x + c2*weights.y+ c3*weights.z: + support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +perlin_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Perlin noise texture"), + anno::description("Enable texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(34), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_texture( + color1: color1, + color2: color2, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 perlin_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,5.0), + anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Perlin noise texture -- bump mapping"), + anno::description("Enable bump-map texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(35), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_bump_texture( + factor: factor, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +worley_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space") , + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform cell_type mode = simple_cells + [[ + anno::display_name("Cell type") , + anno::description("Cell pattern type"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(9) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]]) +[[ + anno::display_name("Cellular noise texture"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(36), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_texture( + color1: color1, + color2: color2, + mode: mode==crystal_cells?2:mode==bordered_cells?3:0, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 worley_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]]) +[[ + anno::display_name("Cellular noise texture -- bump mapping"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(37), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_bump_texture( + factor: factor, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +flow_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3) + + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4) + + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the third dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9), + anno::soft_range(0.0,1.0) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(15) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(14) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(13) + ]]) +[[ + anno::display_name("Flow noise texture"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(38), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_texture( + color1: color1, + color2: color2, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 flow_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(12) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the 3rd dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,1.0) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]] +) +[[ + anno::display_name("Flow noise texture -- bump mapping"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(39), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_bump_texture( + factor: factor, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +checker_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(7) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("3D checker texture"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(40), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_texture( + color1: color1, + color2: color2, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 checker_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the checker pattern.") + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1), + anno::description("Amount of softening applied to checker cell boundaries.") + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]] +) +[[ + anno::display_name("3D checker texture -- bump mapping"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_bump_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(41), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_bump_texture( + factor: factor, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 file_bump_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Bitmap texture used as the bump source.") + ]], + uniform mono_mode bump_source = mono_average + [[ + anno::display_name("Bump mode"), + anno::description("Defines how the texture is evaluated to create the bumps"), + anno::in_group("Bitmap parameters"), + anno::ui_order(2) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), + anno::display_name("Clip"), + anno::in_group("Placement"), + anno::ui_order(5) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Bump strength"), + anno::in_group("Bitmap parameters"), + anno::ui_order(3), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the sampled bitmap bump values.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture, bump"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_bump_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(31), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::file_bump_texture( + texture: texture, + bump_source: bump_source, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + clip: clip + ); +} + +export float3 normalmap_texture( + uniform texture_2d texture + [[ + anno::display_name("Normalmap file"), + anno::in_group("Normalmap parameters"), + icon(".icons/normal_map_texture.svg"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Tangent-space normal map texture.") + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(4) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0), + anno::description("Strength multiplier applied to the sampled normal-map perturbation.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(3) + ]], + uniform bool flip = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Normal map texture"), + anno::description("Allows the use of tangent space normal maps"), + anno::thumbnail(".thumbs/normalmap_texture.png"), + anno::in_group("Texturing"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::tangent_space_normal_texture( + texture: texture, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + flip_tangent_v: flip, + clip: clip + ); +} +export float3 triplanar_normalmap_texture( + uniform texture_2d texture_1 + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_1 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::usage("normal"), + anno::ui_order(4), + anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_2 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::usage("normal"), + anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_3 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::hard_range(0.0,1.0) + ]], + float strength = 1.0 + [[ + anno::description("Overall strength of the normalmap"), + anno::display_name("Strength"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::soft_range(0.0,10.0) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(16), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Triplanar Normalmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); + float3 rotation_origin_rad = math::radians(rotate_origin); + normal = transform_rotate(normal, rotation_origin_rad); + float3 position = transform_rotate(position_original, rotation_origin_rad); + float3 ty = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); + float3 tz = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + + + + float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); + float3 ts = math::normalize(math::cross(state::normal(),tz)); + float3 tt1 = math::normalize(math::cross(state::normal(),ts)); + + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + float3 ts3 = math::normalize(math::cross(state::normal(),ty)); + float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); + + tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; + float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; + tt1 = flip_1? -tt1: tt1; + + float rotation_1_rad = math::radians(rotation_1); + float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); + float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? + (support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength); + n1 = math::normalize( + ts * tan_rotation_mat_1 * n1.x + + tt1 * tan_rotation_mat_1 * n1.y + + state::normal() * (n1.z + (1.0 - strength))); + + float rotation_2_rad = math::radians(rotation_2); + float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) + ? axis_rotation_matrix(state::normal(), -rotation_2_rad) + : tan_rotation_mat_1; + float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? + (support_definitions::lookup_float3( + texture_2, + support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n2 = math::normalize( + ts * tan_rotation_mat_2 * n2.x + + tt2 * tan_rotation_mat_2 * n2.y + + state::normal() * (n2.z + (1.0 - strength))); + + float rotation_3_rad = math::radians(rotation_3); + float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) + ? axis_rotation_matrix(state::normal(), -rotation_3_rad) + : tan_rotation_mat_1; + float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? + (support_definitions::lookup_float3( + texture_3, + support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n3 = math::normalize( + ts3 * tan_rotation_mat_3 * n3.x + + tt3 * tan_rotation_mat_3 * n3.y + + state::normal() * (n3.z + (1.0 - strength))); + + return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); +} + +// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics +// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 +// http://jcgt.org/published/0011/03/05/ +struct hextile_data { + float2 coord1; + float2 coord2; + float2 coord3; + float3 weights; + float3x3 tangent_rot_mat1; + float3x3 tangent_rot_mat2; + float3x3 tangent_rot_mat3; +}; + +hextile_data hextile_coord( + float2 coord, + float rotation, + float2 rotation_range, + float scale, + float2 scale_range, + float offset, + float2 offset_range) +{ + float sqrt3_2 = math::sqrt(3.0) * 2.0; + + // scale coord to maintain the original fit + float2 st = coord * sqrt3_2; + + // skew input space into simplex triangle grid + // (1, 0, -tan(30), 2*tan(30)) + float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); + float2 st_skewed = to_skewed * st; + + // barycentric weights + float2 st_frac = math::frac(st_skewed); + float3 temp = float3(st_frac.x, st_frac.y, 0.0); + temp.z = 1.0 - temp.x - temp.y; + + float s = math::step(0.0, -temp.z); + float s2 = 2.0 * s - 1.0; + + float w1 = -temp.z * s2; + float w2 = s - temp.y * s2; + float w3 = s - temp.x * s2; + + // vertex IDs + int2 base_id = int2(math::floor(st_skewed)); + int si = int(s); + int2 id1 = base_id + int2(si, si); + int2 id2 = base_id + int2(si, 1 - si); + int2 id3 = base_id + int2(1 - si, si); + + // tile center + float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); + float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); + float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); + float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); + + // reuse hash for performance + float2 seed_offset = float2(0.12345); // to avoid some zeros + float2 rand1 = hash22(float2(id1) + seed_offset); + float2 rand2 = hash22(float2(id2) + seed_offset); + float2 rand3 = hash22(float2(id3) + seed_offset); + + // randomized rotation matrix + float2 rr = math::radians(rotation_range); + float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); + float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); + float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); + float[2] sc1 = math::sincos(rrr1); + float[2] sc2 = math::sincos(rrr2); + float[2] sc3 = math::sincos(rrr3); + float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); + float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); + float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); + + // rotation matrix for tangent vectors + float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); + float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); + float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); + + // randomized scale + float2 sr = scale_range; + float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); + float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); + float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); + + // randomized offset + float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); + float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); + float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); + + // get coord + float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; + float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; + float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; + + hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); + + return tile_data; +} + +export color hextiling_file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Bitmap texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + color default_color = color(0.0) + [[ + anno::display_name("Default color"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback color returned when no valid texture is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float falloff_contrast = 0.5 + [[ + anno::display_name("Falloff Contrast"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(11), + anno::description("Controls how strongly luminance influences blending weights.") + ]] +) +[[ + anno::display_name("Hextiling Bitmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_color; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup texture + color c1 = tex::lookup_color(texture, tile_data.coord1); + color c2 = tex::lookup_color(texture, tile_data.coord2); + color c3 = tex::lookup_color(texture, tile_data.coord3); + + // luminance as weight + float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); + cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); + + // blend weights + float3 w = cw * math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + color out_color = w.x * c1 + w.y * c2 + w.z * c3; + + return out_color; +} + +export float3 hextiling_normalmap_texture( + uniform texture_2d texture + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Normal map texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + float3 default_normal = state::normal() + [[ + anno::display_name("Default normal"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback normal returned when no valid normal map is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float strength = 1.0 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(11), + anno::soft_range(0.0, 1.0), + anno::description("Strength multiplier applied to sampled normal-map perturbations.") + ]], + uniform bool flip_g = false + [[ + anno::display_name("Flip V"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(12), + anno::description("Flips the green (Y) channel of the sampled normal maps.") + ]] +) +[[ + anno::display_name("Hextiling Normalmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_normal; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup normalmap + float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); + float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); + float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); + nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; + nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; + nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; + + // transform to geometry normals + nm1 = 2.0 * nm1 - 1.0; + nm2 = 2.0 * nm2 - 1.0; + nm3 = 2.0 * nm3 - 1.0; + float3 sn = state::normal(); + float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; + float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; + float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; + float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; + float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; + float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; + float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); + float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); + float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); + + // belnd weights + float3 w = math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); + + return out_normal; +} + +//endgroup + +//material section----------------------------------------------------------------------------------------------- + +//group Simple materials + +export material diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead a powdery appearance") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple diffuse"), + anno::description("A basic diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(0), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::diffuse_reflection_bsdf( + roughness: roughness, + tint: diffuse_color + ) + ) + ) +); + +export material dusty_diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Dusty diffuse"), + anno::description("A dusty diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::dusty_diffuse_reflection_bsdf( + tint: diffuse_color + ) + ) + ) +); + +export material scratched_metal_v2( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::ui_order(1), + anno::description("The color of the metal") + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::ui_order(3), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::ui_order(4), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::ui_order(5), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::ui_order(6), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::ui_order(7), + anno::description("Attach bump or normal maps here") + ]], + color edge_color = color(1.0) + [[ + anno::display_name("Edge color"), + anno::ui_order(2), + anno::description("The color of the metal towards the edge") + ]] +) +[[ + anno::display_name("Metal"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::in_group("Materials"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); + bsdf glossy_bsdf = df::fresnel_factor( + ior: ior.n, + extinction_coefficient: ior.k, + base: df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ) + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic_v2( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::in_group("Materials"), + anno::ui_order(2), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material retroreflective( + color base_color = color(.2,.03,.03) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + color reflection_color = color(.8,.8,.03) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the retroreflection"), + anno::ui_order(2) + ]], + float roughness = 0.15 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + float normal_reflectivity = .05 + [[ + anno::display_name("Reflection weight facing"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for geometry facing the viewer"), + anno::ui_order(4) + ]], + float grazing_reflectivity = 1. + [[ + anno::display_name("Reflection weight edge"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for the reflectivity at geometry edges"), + anno::ui_order(5) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Retroreflective"), + anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), + anno::thumbnail(".thumbs/retroreflective.png"), + anno::in_group("Materials"), + anno::ui_order(3), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","retroreflective","roadsign","stone")) +]] + = let{ + bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( + tint: reflection_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::custom_curve_layer( + normal_reflectivity: 1.-normal_reflectivity, + grazing_reflectivity: 1.-grazing_reflectivity, + base: glossy_bsdf, + layer: df::diffuse_reflection_bsdf( + roughness: 1.0, + tint: base_color + ), + normal: normal + ) + ) + ) +); + +export material flex_material_v2( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + float is_metal = 0.0 + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.3 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(5), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness*reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness*transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = df::weighted_layer( + is_metal, + df::weighted_layer( + weight: reflectivity, + layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), + base: add_transparency, + normal: normal + ), + df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ) + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass_v2( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(6), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent_v2( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(7), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass_v2( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(8), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness*roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent_v2( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(9), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +//endgroup + +//group Modifier materials + +export material blend( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float weight = 0. + [[ + anno::display_name("Blend weight"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]] +) +[[ + anno::display_name("Blend materials"), + anno::description("Blend characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/blend.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = let { + float inv_weight = 1.0f - weight; +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: material_emission( + mode: base.surface.emission.mode, //cant vary + intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), + emission: df::unbounded_mix( + df::edf_component[] + ( + df::edf_component(inv_weight,base.surface.emission.emission), + df::edf_component(weight,blend.surface.emission.emission) + ) + ) + ) + ), + volume: material_volume( + scattering: df::unbounded_mix( + df::vdf_component[] + ( + df::vdf_component(inv_weight,base.volume.scattering), + df::vdf_component(weight,blend.volume.scattering) + ) + ), + absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), + scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), + emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) + + ), + ior: base.ior, //can't vary + thin_walled: base.thin_walled, //can't vary + geometry: material_geometry( + displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), + cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), + normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) + ) +); + +export material twosided( + material front = scratched_plastic_v2() + [[ + anno::display_name("Front material"), + anno::description("The material on the front faces.") + ]], + material back = scratched_metal_v2() + [[ + anno::display_name("Back material"), + anno::description("The material on the back faces.") + ]] +) +[[ + anno::display_name("Two-sided materials"), + anno::description("Allows you to apply a material to front and back surfaces."), + anno::thumbnail(".thumbs/twosided.png"), + anno::in_group("Material modifiers"), + icon(".icons/two_sided_materials.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + thin_walled: true, + ior: front.ior, + surface: front.surface, + backface: back.surface, + geometry: front.geometry +); + +export material surface_falloff( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float facing_weight = 0.0 + [[ + anno::display_name("Blend weight facing"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float edge_weight = 1.0 + [[ + anno::display_name("Blend weight edge"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float blend_bias = 1. + [[ + anno::display_name("Blend bias"), + anno::soft_range(0.0,10.), + anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") + ]] +) +[[ + anno::display_name("Surface falloff"), + anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/surface_falloff.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/surface_falloff.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: 1., + exponent: blend_bias, + normal_reflectivity: facing_weight, + grazing_reflectivity: edge_weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_clearcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_clear_coating.svg"), + anno::ui_order(16), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_thinfilm( + material base = scratched_metal_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get shows a thin film effect") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("The IOR of the thin film interface") + ]], + float thickness = 400.0 + [[ + anno::display_name("Thickness"), + anno::soft_range(10.0,5000.0), + anno::description("Thickness of the thin film in nm") + ]] +) +[[ + anno::display_name("Apply thin film"), + anno::description("Apply thin film to an existing material"), + anno::thumbnail(".thumbs/apply_thinfilm.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_film.svg"), + anno::ui_order(17), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::thin_film( + ior: color(ior), + thickness: thickness, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_metal_coating.svg"), + anno::ui_order(18), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_dustcover( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color dust_color = color(.7) + [[ + anno::display_name("Dust color"), + anno::description("The color of the dust") + ]], + float visibility = 1. + [[ + anno::display_name("Dust density"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the cover") + ]], + uniform float dust_density = .5 + [[ + anno::display_name("Dust amount"), + anno::hard_range(.01,1), + anno::description("How dusty the material is") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Apply a cover of dust"), + anno::description("Apply a diffuse cover of dust or dirt"), + anno::thumbnail(".thumbs/apply_dustcover.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_dust_cover.svg"), + anno::ui_order(19), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf dust_bsdf = df::diffuse_reflection_bsdf( + roughness: 1., + tint: dust_color + ); +} in material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: visibility, + normal_reflectivity: dust_density*dust_density*dust_density, + exponent: (1.05-dust_density)*2., + normal: normal, + layer: dust_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_colorfalloff_v2( + material base = scratched_metal_v2(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + uniform color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("Color 1 (facing direction)") + ]], + uniform color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("Color 2") + ]], + uniform color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("Color 3") + ]], + uniform color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("Color 4") + ]], + uniform color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("Color 5 (object edges)") + ]] +) +[[ + anno::display_name("Apply a color falloff"), + anno::description("Makes the color view dependent"), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/apply_color_falloff.svg"), + anno::ui_order(20), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//JAN: TODO fix from here +export material apply_metallicflakes( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a flake layer applied") + ]], + color flake_color = color(.9,.7,.5) + [[ + anno::display_name("Color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.5 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = 0.5 + [[ + anno::display_name("Flake opacity"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]] +) +[[ + anno::display_name("Apply flake coating"), + anno::description("Apply layer of metallic flakes to an existing material"), + anno::thumbnail(".thumbs/apply_metallicflakes.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_flake_coating.svg"), + anno::ui_order(21), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flake_paint( + color base_color = color(.3,.01,.01) + [[ + anno::display_name("Base color"), + anno::description("The color of the base paint") + ]], + color flake_color = color(.6,1,.1) + [[ + anno::display_name("Flake color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.15 + [[ + anno::display_name("Flake roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.4 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = .8 + [[ + anno::display_name("Flake weight"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat") + ]], + float coat_roughness = 0.0 + [[ + anno::display_name("Coat roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat") + ]], + float3 coat_bump = state::normal() + [[ + anno::display_name("Coat bump"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Flaky paint"), + anno::description("A multi layer paint material containing flakes"), + anno::thumbnail(".thumbs/flake_paint.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(14), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("complex","carpaint")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: coat_bump, + layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), + base: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf(tint: base_color) + ) + ) + ), + thin_walled: true +); + +export material add_cutout( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a cut-out") + ]], + float cutout = 1.0 + [[ + anno::display_name("Cutout"), + anno::hard_range(0.0,1.0), + anno::description("Determines where the object is visible") + ]] +) [[ + anno::display_name("Add cut-outs"), + anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), + anno::thumbnail(".thumbs/add_cutout.png"), + anno::in_group("Material modifiers"), + icon(".icons/add_cutouts.svg"), + anno::ui_order(22), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: true, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: cutout + ) +); + +export material add_simple_sticker( + color diffuse_color = color(.5) + [[ + anno::display_name("Sticker color"), + anno::description("The color of the material"), + anno::ui_order(2) + ]], + float roughness = 0.05 + [[ + anno::display_name("Sticker roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("Sticker IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Sticker reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(4) + ]], + float3 sticker_normal = state::normal() + [[ + anno::display_name("Sticker bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]], + float sticker_mask = 0.0 + [[ + anno::display_name("Sticker mask"), + anno::hard_range(0.0,1.0), + anno::description("Determines extent of the sticker"), + anno::ui_order(5) + ]], + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a sticker added"), + anno::ui_order(1) + ]] +) [[ + anno::display_name("Add simple sticker"), + anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), + anno::thumbnail(".thumbs/add_simple_sticker.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_simple_sticker.svg"), + anno::ui_order(23), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = let{ + material blend_material = blend( + blend: scratched_plastic_v2( + diffuse_color: diffuse_color, + roughness: roughness, + ior: ior, + reflectivity: reflectivity, + normal: sticker_normal), + base: base, + weight: sticker_mask + ); +} in material( + surface: blend_material.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_globalbump( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bump"), + anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") + ]] +) [[ + anno::display_name("Add global bumpmap"), + anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), + anno::thumbnail(".thumbs/add_globalbump.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_global_bumpmap.svg"), + anno::ui_order(24), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float displacement = 0.0 + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add displacement"), + anno::description("Adds displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_vector_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get displacement") + ]], + float3 displacement = float3(0.0) + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") + ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ + anno::display_name("Displacement vector mode"), + anno::description("Specify the space of the vector dispacement map") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add vector displacement"), + anno::description("Adds vector displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_vector_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_round_edges( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get round edges") + ]], + uniform float round_edges_radius = 0.02 + [[ + anno::display_name("Round edge radius"), + anno::description("Influence radius around the edges in meters") + ]], + uniform float round_edges_roundness = 1.0 + [[ + anno::display_name("Round edge roundness"), + anno::description("Determines how round the edge will look"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false + [[ + anno::display_name("Round edge across materials"), + anno::description("Normal smoothing happens only between facets of equal material, unless + this parameter is set true, in which case the smoothing happens between + facets irrespective of their materials") + ]] +) [[ + anno::display_name("Add round edges"), + anno::description("Adds round edges to existing materials"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_round_edges.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: state::rounded_corner_normal( + radius: round_edges_radius, + roundness: round_edges_roundness, + across_materials: round_edges_across_materials + ), + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add emission"), + anno::description("Adds emission to a material"), + anno::thumbnail(".thumbs/add_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_emission.svg"), + anno::ui_order(26), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material add_thermal_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + uniform float temperature = 6500. + [[ + anno::display_name("Temperature"), + anno::description("The color temperature of the light in Kelvin") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add thermal emission"), + anno::description("Adds emission to a material, color is based on a \"color temperature\""), + anno::thumbnail(".thumbs/add_thermal_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_thermal_emission.svg"), + anno::ui_order(27), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; + color emission_color = math::blackbody(temperature); + + color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: scaled_intensity, + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//endgroup + +/**-*/ + +//group Emissive materials + +export material light_omni ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Diffuse emission"), + anno::description("Emissive material emitting in all directions"), + anno::thumbnail(".thumbs/light_omni.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::ui_order(5000), + anno::hidden(), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::diffuse_edf(), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_spot ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform float spot_exponent = 30 + [[ + anno::display_name("Spot focus"), + anno::description("larger values lead to more focused spotlights") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Spotlight emission"), + anno::description("Emissive material emitting focused in one direction"), + anno::thumbnail(".thumbs/light_spot.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5051), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + //since this is a spotlight, we need the apex angle to convert from candela to lumen + //http://www.compuphase.com/electronics/candela_lumen.htm + //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi + //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); + + //correct integral + uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_ies ( + uniform light_profile profile + [[ + anno::display_name("IES light profile data"), + anno::description("Data to describe the distribution of the light") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(),//deprecated + anno::description("Modeling unit to meter conversion factor") + ]] +) [[ + anno::display_name("IES file based emission"), + anno::description("Emissive material emitting as described in an IES file"), + anno::thumbnail(".thumbs/light_ies.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5052), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = material ( + surface: material_surface ( + emission: material_emission ( + emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*intensity*unit_scale + ) + ) +); + +//endgroup + +//group Deprecated + +//deprecated functionality=========================================================================================== +export annotation ui_position(int position); +export annotation typical_object_size(float size); + +export material metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple metal, deprecated"), + anno::description("A basic metallic material"), + anno::thumbnail(".thumbs/metal.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.25 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic"), + anno::thumbnail(".thumbs/plastic.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Metal , deprecated"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material apply_colorfalloff( + material base = scratched_metal(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("The color of the dust") + ]], + color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("The color of the dust") + ]], + color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("The color of the dust") + ]], + color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("The color of the dust") + ]], + color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("The color of the dust") + ]] +) +[[ + anno::display_name("Apply a color falloff, deprecated"), + anno::description("Makes the color view dependent"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::hidden(), + //anno::deprecated("Use apply_colorfalloff_v2 instead"), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flex_material( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + uniform bool is_metal = false + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.1 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model, deprecated"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::hidden(), + //anno::deprecated("Use flex_material_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: is_metal? base_color: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = is_metal? df::weighted_layer( + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ): df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass, deprecated"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::hidden(), + //anno::deprecated("Use thin_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent, deprecated"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thin_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass, deprecated"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::hidden(), + //anno::deprecated("Use thick_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent, deprecated"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thick_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material apply_clearcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating, deprecated"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_clearcoat_v2 instead"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating, deprecated"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_metalcoat_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +//endgroup + +/*-**/ diff --git a/psyonic_ability_hand_right_large/materials/mdl/license.txt b/psyonic_ability_hand_right_large/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/psyonic_ability_hand_right_large/materials/mdl/license.txt @@ -0,0 +1,73 @@ +# NVIDIA Omniverse Core Materials Licenses + +## Primary License +This project is primarily licensed under the BSD-3-Clause License. + +``` +Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +``` + +## Third-Party Licenses + +### Apache License 2.0 +The following components are licensed under the Apache License 2.0: + +#### MaterialX Components +Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: +https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE + +``` +Copyright Contributors to the MaterialX Project + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +``` + +## SPDX License Identifiers +Files in this project use the following SPDX license identifiers: +- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code +- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components + +## License Attribution +This project contains code from multiple sources: +1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase +2. Academy Software Foundation (Apache-2.0) - MaterialX components + +## License Scope +- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise +- Files in `/source/mdl/materialx` are licensed under Apache-2.0 +- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/psyonic_ability_hand_right_large/materials/mdl/support_definitions.mdl b/psyonic_ability_hand_right_large/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/psyonic_ability_hand_right_large/materials/mdl/support_definitions.mdl @@ -0,0 +1,4292 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.8; + +import ::anno::*; +import ::math::*; + +using .::aux_definitions import xy; +import ::state::*; +import ::scene::*; + +export using ::state import coordinate_space; //enum type +import ::tex::*; +export using ::tex import gamma_mode; //enum type +export using ::tex import wrap_mode; //enum type + +module [[ + anno::version( 1, 2, 0), + anno::display_name("NVIDIA support definitions") +]]; + +export annotation icon(string path); + + +export float data_lookup_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float(name, default_value); +} + +export float2 data_lookup_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float2(name, default_value); +} + +export float3 data_lookup_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float3(name, default_value); +} + +export float4 data_lookup_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float4(name, default_value); +} + +export int data_lookup_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int(name, default_value); +} + +export int2 data_lookup_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int2(name, default_value); +} + +export int3 data_lookup_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int3(name, default_value); +} + +export int4 data_lookup_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int4(name, default_value); +} + +export color data_lookup_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_color(name, default_value); +} + +export uniform float data_lookup_uniform_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float(name, default_value); +} + +export uniform float2 data_lookup_uniform_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float2(name, default_value); +} + +export uniform float3 data_lookup_uniform_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float3(name, default_value); +} + +export uniform float4 data_lookup_uniform_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float4(name, default_value); +} + +export uniform int data_lookup_uniform_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int(name, default_value); +} + +export uniform int2 data_lookup_uniform_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int2(name, default_value); +} + +export uniform int3 data_lookup_uniform_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int3(name, default_value); +} + +export uniform int4 data_lookup_uniform_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int4(name, default_value); +} + +export uniform color data_lookup_uniform_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_color(name, default_value); +} + + + +// operator nodes +// Add +export int add(int a=0, int b=0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(300) +]] +{ return a+b; } + +export float add(float a=0.0, float b=0.0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(301) +]] +{ return a+b; } + +export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(302) +]] +{ return a+b; } + +export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(303) +]] +{ return a+b; } + +export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(304) +]] +{ return a+b; } + +export color add(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(305) +]] +{ return a+b; } + +export int subtract(int a=0, int b=0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(310) +]] +{ return a-b; } + +export float subtract(float a=0.0, float b=0.0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(311) +]] +{ return a-b; } + +export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(312) +]] +{ return a-b; } + +export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(313) +]] +{ return a-b; } + +export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(314) +]] +{ return a-b; } + +export color subtract(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(315) +]] +{ return a-b; } + +export int multiply(int a=0, int b=0) +[[ + anno::display_name("Multiply"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(320) +]] +{ return a*b; } + +export float multiply(float a=0.0, float b=0.0) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(321) +]] +{ return a*b; } + +export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(322) +]] +{ return a*b; } + +export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(323) +]] +{ return a*b; } + +export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(324) +]] +{ return a*b; } + +export color multiply(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(325) +]] +{ return a*b; } + +export int divide(int a=0, int b=0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(326) +]] +{ return a/b; } + +export float divide(float a=0.0, float b=0.0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(327) +]] +{ return a/b; } + +export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(328) +]] +{ return a/b; } + +export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(329) +]] +{ return a/b; } + +export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(330) +]] +{ return a/b; } + +export color divide(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(331) +]] +{ return a/b; } + +export int condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + int a=0 [[ + anno::description("Value returned when the condition is true.") + ]], + int b=0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(332) +]] +{ return x?a:b; } + +export float condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float a=0.0 [[ + anno::description("Value returned when the condition is true.") + ]], + float b=0.0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(333) +]] +{ return x?a:b; } + +export float2 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float2 a=float2(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float2 b=float2(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(334) +]] +{ return x?a:b; } + +export float3 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float3 a=float3(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float3 b=float3(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(335) +]] +{ return x?a:b; } + +export float4 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float4 a=float4(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float4 b=float4(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(336) +]] +{ return x?a:b; } + +export color condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + color a=color(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + color b=color(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(337) +]] +{ return x?a:b; } + +export bool compare(float a, float b) +[[ + anno::display_name("Compare"), + anno::description("Returns true when a is greater than b; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Comparison"), + icon(".icons/compare.svg"), + anno::ui_order(338) +]] +{ return a>b; } + +export bool equality(bool a, bool b) +[[ + anno::display_name("Check equality bool"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(339) +]] +{ return a==b; } + +export bool equality(int a, int b) +[[ + anno::display_name("Check equality int"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(340) +]] +{ return a==b; } + +export bool equality(int2 a, int2 b) +[[ + anno::display_name("Check equality int2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(341) +]] +{ return a==b; } + +export bool equality(int3 a, int3 b) +[[ + anno::display_name("Check equality int3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(342) +]] +{ return a==b; } + +export bool equality(float a, float b) +[[ + anno::display_name("Check equality float"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(343) +]] +{ return a==b; } + +export bool equality(float2 a, float2 b) +[[ + anno::display_name("Check equality float2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(344) +]] +{ return a==b; } + +export bool equality(float3 a, float3 b) +[[ + anno::display_name("Check equality float3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(345) +]] +{ return a==b; } + +export bool equality(color a, color b) +[[ + anno::display_name("Check equality color"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(346) +]] +{ return a==b; } + +//constants nodes. +export bool bool_const(uniform bool b = true) +[[ + anno::display_name("Constant bool"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1000) +]] +{ return b; } + +export int int_const(uniform int i = 0) +[[ + anno::display_name("Constant int"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1001) +]] +{ return i; } + +export float float_const(uniform float f = 0.) +[[ + anno::display_name("Constant float"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1002) +]] +{ return f; } + +export float2 float2_const(uniform float2 f2 = float2(0.)) +[[ + anno::display_name("Constant float2"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1003) +]] +{ return f2; } + +export float3 float3_const(uniform float3 f3 = float3(0.)) +[[ + anno::display_name("Constant float3"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1004) +]] +{ return f3; } + +export float4 float4_const(uniform float4 f4 = float4(0.)) +[[ + anno::display_name("Constant float4"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1005) +]] +{ return f4; } + +export color color_const(uniform color c = color(0.)) +[[ + anno::display_name("Constant color"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1006) +]] +{ return c; } + +export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ + anno::display_name("Constant texture_2d"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1007) +]] +{ return tex; } + +//exports from tex: +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose width is queried.") + ]]) uniform +[[ + anno::display_name("Width of texture"), + anno::description("Returns the width of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(141) +]] +{ return tex::width(tex); } + +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile width is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Width of a texture tile"), + anno::description("Returns the width of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(143) +]] +{ return tex::width(tex, uv_tile); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose height is queried.") + ]]) uniform +[[ + anno::display_name("Height of texture"), + anno::description("Returns the height of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(142) +]] +{ return tex::height(tex); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile height is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Height of a texture tile"), + anno::description("Returns the height of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(144) +]] +{ return tex::height(tex,uv_tile); } + +export float2 transform_st( + float rotation = 0.0 [[ + anno::description("Rotation angle in radians.") + ]], + float2 translation = float2(0.0) [[ + anno::description("Translation offset applied after rotation and scaling.") + ]], + float2 scale = float2(1.0) [[ + anno::description("Scale factor applied per coordinate axis.") + ]], + float2 st = float2(0.0) [[ + anno::description("Input 2D coordinate to transform.") + ]] +) +[[ + anno::display_name("Transform 2D"), + anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform"), + icon(".icons/transform.svg"), + anno::ui_order(1019) +]] +{ + float s = math::sin(rotation); + float c = math::cos(rotation); + float2 st_t=st; + st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); + return st_t*scale+ translation; +} + +export color biased_color_blend( + float w1 = 0.0 [[ + anno::description("Weight for the first input color.") + ]], + color c1 = color(0.0) [[ + anno::description("First input color.") + ]], + float w2 = 0.0 [[ + anno::description("Weight for the second input color.") + ]], + color c2 = color(0.0) [[ + anno::description("Second input color.") + ]], + float w3 = 0.0 [[ + anno::description("Weight for the third input color.") + ]], + color c3 = color(0.0) [[ + anno::description("Third input color.") + ]], + color mean = color(0.5) [[ + anno::description("Expected average color used to preserve contrast in the biased blend.") + ]] +) +[[ + anno::display_name("Biased color blend"), + anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Blend"), + icon(".icons/biased_color_blend.svg"), + anno::ui_order(539) +]] +{ + color o=w1*c1+w2*c2+w3*c3; + float s=w1+w2+w3; + float s2=w1*w1+w2*w2+w3*w3; +return mean + (o-s*mean)/ math::sqrt(s2); +} + + +export float lookup_float( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(100) +]] +{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + +export float3 lookup_float3( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float3"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(110) +]] +{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export float4 lookup_float4( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float4"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(120) +]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export color lookup_color( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup color"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(130) +]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +// check for valid resource +export bool texture_isvalid( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to validate.") + ]]) uniform +[[ + anno::display_name("Is texture valid?"), + anno::description("Returns true when the provided texture handle is valid and can be sampled."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info"), + icon(".icons/texture_isvalid.svg"), + anno::ui_order(140) +]] +{ return tex::texture_isvalid(tex); } + + +//exports from state: +export float3 position() +[[ + anno::display_name("Hit position"), + anno::description("Returns the current shading position in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/position.svg"), + anno::ui_order(1012) +]] +{ return state::position(); } + +export float3 normal() +[[ + anno::display_name("Shade normal"), + anno::description("Returns the current shading normal in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/normal.svg"), + anno::ui_order(1013) +]] +{ return state::normal(); } + +//new: quick access to xy: +export float2 texture_coordinate_2d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 2D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1010) +]] +{ return xy(state::texture_coordinate(i)); } + +export float3 texture_coordinate_3d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 3D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1011) +]] +{ return state::texture_coordinate(i); } + +export float3 texture_tangent_u( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the U tangent.") + ]]) +[[ + anno::display_name("Shade tangent"), + anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1014) +]] +{ return state::texture_tangent_u(i); } + +export float3 texture_tangent_v( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the V tangent.") + ]]) +[[ + anno::display_name("Shade bi-tangent"), + anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1015) +]] +{ return state::texture_tangent_v(i); } + +export float animation_time() +[[ + anno::display_name("Animation time"), + anno::description("Returns elapsed animation time in seconds from the start of the timeline."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene"), + icon(".icons/animation_time.svg"), + anno::ui_order(1030) +]] +{ return state::animation_time(); } + + +export float3 transform_point( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input point.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed point.") + ]], + float3 point=float3(0.) [[ + anno::description("Point to transform.") + ]]) +[[ + anno::display_name("Transform point"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1020) +]] +{ return state::transform_point(from, to, point); } + +export float3 transform_vector( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input vector.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed vector.") + ]], + float3 vector=float3(0.) [[ + anno::description("Vector to transform.") + ]]) +[[ + anno::display_name("Transform vector"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1021) +]] +{ return state::transform_vector(from, to, vector); } + +export float3 transform_normal( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input normal.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed normal.") + ]], + float3 normal=float3(0.,1.,0.) [[ + anno::description("Normal vector to transform.") + ]]) +[[ + anno::display_name("Transform normal"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1022) +]] +{ return state::transform_normal(from, to, normal); } + +export float transform_scale( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input scale value.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed scale value.") + ]], + float scale=0. [[ + anno::description("Scale value to transform.") + ]]) +[[ + anno::display_name("Transform scale"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1023) +]] +{ return state::transform_scale(from, to, scale); } + +float2 r2d(float2 x, float theta) +{ + theta *= math::acos(-1.0) * 2.0; + return float2( + math::cos(theta) * x[0] + math::sin(theta) * x[1], + math::cos(theta) * x[1] - math::sin(theta) * x[0]); +} + +export float3 rotate_around_x( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around X"), + anno::description("Rotates a 3D point around the X axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1024) +]] +{ + float2 v = r2d(float2(p.y, p.z), theta); + return float3(p.x, v[0], v[1]); +} + +export float3 rotate_around_y( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Y"), + anno::description("Rotates a 3D point around the Y axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1025) +]] +{ + float2 v = r2d(float2(p.x, p.z), theta); + return float3(v[0], p.y, v[1]); +} + +export float3 rotate_around_z( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Z"), + anno::description("Rotates a 3D point around the Z axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1026) +]] +{ + float2 v = r2d(float2(p.x, p.y), theta); + return float3(v[0], v[1], p.z); +} + +export float meters_per_scene_unit() +[[ + anno::display_name("Meters per scene unit"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/meters_per_scene_unit.svg"), + anno::ui_order(1031) +]] +{ return state::meters_per_scene_unit(); } + +export float scene_units_per_meter() +[[ + anno::display_name("Scene units per meter"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/scene_units_per_meter.svg"), + anno::ui_order(1032) +]] +{ return state::scene_units_per_meter(); } + +export int object_id() +[[ + anno::display_name("Object Id"), + anno::description("Returns the unique integer identifier of the currently shaded object."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/object_id.svg"), + anno::ui_order(1033) +]] +{ return state::object_id(); } + +//exported from math: +export color blackbody( + float temperature=6500. [[ + anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") + ]]) +[[ + anno::display_name("Blackbody color"), + anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/blackbody.svg"), + anno::ui_order(409) +]] +{ return math::blackbody(temperature); } + +export float PI() +[[ + anno::display_name("Pi"), + anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Constants"), + icon(".icons/PI.svg"), + anno::ui_order(1007) +]] +{ return math::PI; } + +export int abs(int a=0) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(350) +]] +{ return math::abs(a); } + +export float abs(float a=0.) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(351) +]] +{ return math::abs(a); } + +export float2 abs(float2 a=float2(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(352) +]] +{ return math::abs(a); } + +export float3 abs(float3 a=float3(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(353) +]] +{ return math::abs(a); } + +export float4 abs(float4 a=float4(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(354) +]] +{ return math::abs(a); } + +export color abs(color a=color(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(355) +]] +{ return math::abs(a); } + +export float acos(float a=0.) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(360) +]] +{ return math::acos(a); } + +export float2 acos(float2 a=float2(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(361) +]] +{ return math::acos(a); } + +export float3 acos(float3 a=float3(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(362) +]] +{ return math::acos(a); } + +export float4 acos(float4 a=float4(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(363) +]] +{ return math::acos(a); } + + +export float asin(float a=0.) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(370) +]] +{ return math::asin(a); } + +export float2 asin(float2 a=float2(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(371) +]] +{ return math::asin(a); } + +export float3 asin(float3 a=float3(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(372) +]] +{ return math::asin(a); } + +export float4 asin(float4 a=float4(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(373) +]] +{ return math::asin(a); } + +export float atan(float a=0.) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(380) +]] +{ return math::atan(a); } + +export float2 atan(float2 a=float2(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(381) +]] +{ return math::atan(a); } + +export float3 atan(float3 a=float3(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(382) +]] +{ return math::atan(a); } + +export float4 atan(float4 a=float4(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(383) +]] +{ return math::atan(a); } + +export float atan2( + float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(390) +]] +{ return math::atan2(y,x); } + +export float2 atan2( + float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(391) +]] +{ return math::atan2(y,x); } + +export float3 atan2( + float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(392) +]] +{ return math::atan2(y,x); } + +export float4 atan2( + float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(393) +]] +{ return math::atan2(y,x); } + +export float average(float2 a=float2(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(400) +]] +{ return math::average(a); } + +export float average(float3 a=float3(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(401) +]] +{ return math::average(a); } + +export float average(float4 a=float4(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(402) +]] +{ return math::average(a); } + +export float average(color a=color(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(403) +]] +{ return math::average(a); } + +export float ceil(float a=0.) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(410) +]] +{ return math::ceil(a); } + +export float2 ceil(float2 a=float2(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float3 ceil(float3 a=float3(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float4 ceil(float4 a=float4(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(412) +]] +{ return math::ceil(a); } + +export int clamp( + int a=0 [[anno::description("Input value to clamp.")]], + int min=0 [[anno::description("Lower bound of the output range.")]], + int max=1 [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(420) +]] +{ return math::clamp(a,min,max); } + +export float clamp( + float a=0. [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(421) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(422) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(423) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(424) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(425) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(426) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(427) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(428) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(429) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(430) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(431) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(432) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(433) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(434) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(435) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(436) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(437) +]] +{ return math::clamp(a,min,max); } + +export float cos(float a=0.) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(440) +]] +{ return math::cos(a); } + +export float2 cos(float2 a=float2(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(441) +]] +{ return math::cos(a); } + +export float3 cos(float3 a=float3(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(442) +]] +{ return math::cos(a); } + +export float4 cos(float4 a=float4(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(443) +]] +{ return math::cos(a); } + +export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Cross"), + anno::description("Returns the 3D cross product of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/cross_product.svg"), + anno::ui_order(449) +]] +{ return math::cross(a,b); } + +export float degrees( + float a=0. [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(450) +]] +{ return math::degrees(a); } + +export float2 degrees( + float2 a=float2(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(451) +]] +{ return math::degrees(a); } + +export float3 degrees( + float3 a=float3(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(452) +]] +{ return math::degrees(a); } + +export float4 degrees( + float4 a=float4(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(453) +]] +{ return math::degrees(a); } + +export float distance(float a=0., float b=0.) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(460) +]] +{ return math::distance(a,b); } + +export float distance(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(461) +]] +{ return math::distance(a,b); } + +export float distance(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(462) +]] +{ return math::distance(a,b); } + +export float distance(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(463) +]] +{ return math::distance(a,b); } + +export float dot(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(470) +]] +{ return math::dot(a,b); } + +export float dot(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(471) +]] +{ return math::dot(a,b); } + +export float dot(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(472) +]] +{ return math::dot(a,b); } + +export float exp(float a=0.) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(480) +]] +{ return math::exp(a); } + +export float2 exp(float2 a=float2(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float3 exp(float3 a=float3(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float4 exp(float4 a=float4(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(482) +]] +{ return math::exp(a); } + +export color exp(color a=color(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(483) +]] +{ return math::exp(a); } + +export float exp2(float a=0.) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(490) +]] +{ return math::exp2(a); } + +export float2 exp2(float2 a=float2(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(491) +]] +{ return math::exp2(a); } + +export float3 exp2(float3 a=float3(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(492) +]] +{ return math::exp2(a); } + +export float4 exp2(float4 a=float4(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(493) +]] +{ return math::exp2(a); } + +export color exp2(color a=color(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(494) +]] +{ return math::exp2(a); } + +export float floor(float a=0.) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(500) +]] +{ return math::floor(a); } + +export float2 floor(float2 a=float2(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(501) +]] +{ return math::floor(a); } + +export float3 floor(float3 a=float3(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(502) +]] +{ return math::floor(a); } + +export float4 floor(float4 a=float4(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(503) +]] +{ return math::floor(a); } + +export float fmod( + float a=0. [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(510) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float2 b=float2(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(511) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float3 b=float3(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(512) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float4 b=float4(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(513) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(514) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(515) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(516) +]] +{ return math::fmod(a,b); } + +export float frac(float a=0.) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(520) +]] +{ return math::frac(a); } + +export float2 frac(float2 a=float2(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(521) +]] +{ return math::frac(a); } + +export float3 frac(float3 a=float3(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(522) +]] +{ return math::frac(a); } + +export float4 frac(float4 a=float4(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(523) +]] +{ return math::frac(a); } + +export float length(float2 a=float2(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(530) +]] +{ return math::length(a); } + +export float length(float3 a=float3(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(531) +]] +{ return math::length(a); } + +export float length(float4 a=float4(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(532) +]] +{ return math::length(a); } + +export float lerp( + float a=0. [[anno::description("Start value at interpolation factor 0.")]], + float b=1. [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(540) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(541) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(542) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(543) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(544) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(545) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(546) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(547) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(548) +]] +{ return math::lerp(a,b,l); } + +export float log(float a=1.) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(550) +]] +{ return math::log(a); } + +export float2 log(float2 a=float2(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(551) +]] +{ return math::log(a); } + +export float3 log(float3 a=float3(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(552) +]] +{ return math::log(a); } + +export float4 log(float4 a=float4(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(553) +]] +{ return math::log(a); } + +export color log(color a=color(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(554) +]] +{ return math::log(a); } + +export float log2(float a=1.) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(560) +]] +{ return math::log2(a); } + +export float2 log2(float2 a=float2(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(561) +]] +{ return math::log2(a); } + +export float3 log2(float3 a=float3(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(562) +]] +{ return math::log2(a); } + +export float4 log2(float4 a=float4(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(563) +]] +{ return math::log2(a); } + +export color log2(color a=color(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(564) +]] +{ return math::log2(a); } + +export float log10(float a=1.) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(570) +]] +{ return math::log10(a); } + +export float2 log10(float2 a=float2(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(571) +]] +{ return math::log10(a); } + +export float3 log10(float3 a=float3(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(572) +]] +{ return math::log10(a); } + +export float4 log10(float4 a=float4(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(573) +]] +{ return math::log10(a); } + +export color log10(color a=color(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(574) +]] +{ return math::log10(a); } + +export float luminance(float3 a=float3(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(580) +]] +{ return math::luminance(a); } + +export float luminance(color a=color(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(581) +]] +{ return math::luminance(a); } + +export float luminance(float4 a=float4(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(582) +]] +{ return math::luminance(float3(a.x,a.y,a.z)); } + +export int max(int a=0, int b=0) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(590) +]] +{ return math::max(a,b); } + +export float max(float a=0., float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(591) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(592) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(593) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(594) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(595) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(596) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(597) +]] +{ return math::max(a,b); } + +export float2 max(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(598) +]] +{ return math::max(a,b); } + +export float3 max(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(599) +]] +{ return math::max(a,b); } + +export float4 max(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(600) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(601) +]] +{ return math::max(a,b); } + +export color max(float a=0., color b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(602) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(603) +]] +{ return math::max(a,b); } + +export float max_value(float2 a=float2(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(610) +]] +{ return math::max_value(a); } + +export float max_value(float3 a=float3(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(611) +]] +{ return math::max_value(a); } + +export float max_value(float4 a=float4(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(612) +]] +{ return math::max_value(a); } + +export float max_value(color a=color(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(613) +]] +{ return math::max_value(a); } + +export int min(int a=0, int b=0) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(620) +]] +{ return math::min(a,b); } + +export float min(float a=0., float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(621) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(622) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(623) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(624) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(625) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(626) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(627) +]] +{ return math::min(a,b); } + +export float2 min(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(628) +]] +{ return math::min(a,b); } + +export float3 min(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(629) +]] +{ return math::min(a,b); } + +export float4 min(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(630) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(631) +]] +{ return math::min(a,b); } + +export color min(float a=0., color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(632) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(633) +]] +{ return math::min(a,b); } + +export float min_value(float a=0.) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(640) +]] +{ return math::min_value(a); } + +export float min_value(float2 a=float2(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(641) +]] +{ return math::min_value(a); } + +export float min_value(float3 a=float3(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(642) +]] +{ return math::min_value(a); } + +export float min_value(float4 a=float4(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(643) +]] +{ return math::min_value(a); } + +export float min_value(color a=color(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(644) +]] +{ return math::min_value(a); } + +export float2 normalize( + float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(650) +]] +{ return math::normalize(a); } + +export float3 normalize( + float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(651) +]] +{ return math::normalize(a); } + +export float4 normalize( + float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(652) +]] +{ return math::normalize(a); } + +export int pow( + int a=0 [[anno::description("Base value.")]], + int b=0 [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(660) +]] +{ return math::pow(a,b); } + +export float pow( + float a=0. [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(661) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float2 b=float2(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(662) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float3 b=float3(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(663) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float4 b=float4(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(664) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(665) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(666) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(667) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + color b=color(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(668) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(669) +]] +{ return math::pow(a,b); } + +export float radians( + float a=0. [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(670) +]] +{ return math::radians(a); } + +export float2 radians( + float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(671) +]] +{ return math::radians(a); } + +export float3 radians( + float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(672) +]] +{ return math::radians(a); } + +export float4 radians( + float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(673) +]] +{ return math::radians(a); } + +export float round(float a=0.) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(690) +]] +{ return math::round(a); } + +export float2 round(float2 a=float2(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(691) +]] +{ return math::round(a); } + +export float3 round(float3 a=float3(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(692) +]] +{ return math::round(a); } + +export float4 round(float4 a=float4(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(693) +]] +{ return math::round(a); } + +export float rsqrt(float a=0.) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(700) +]] +{ return math::rsqrt(a); } + +export float2 rsqrt(float2 a=float2(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(701) +]] +{ return math::rsqrt(a); } + +export float3 rsqrt(float3 a=float3(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(702) +]] +{ return math::rsqrt(a); } + +export float4 rsqrt(float4 a=float4(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(703) +]] +{ return math::rsqrt(a); } + +export color rsqrt(color a=color(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(704) +]] +{ return math::rsqrt(a); } + +export float saturate( + float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(710) +]] +{ return math::saturate(a); } + +export float2 saturate( + float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(711) +]] +{ return math::saturate(a); } + +export float3 saturate( + float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(712) +]] +{ return math::saturate(a); } + +export float4 saturate( + float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(713) +]] +{ return math::saturate(a); } + +export color saturate( + color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(714) +]] +{ return math::saturate(a); } + +export int sign(int a=0) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(720) +]] +{ return math::sign(a); } + +export float sign(float a=0.) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(721) +]] +{ return math::sign(a); } + +export float2 sign(float2 a=float2(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(722) +]] +{ return math::sign(a); } + +export float3 sign(float3 a=float3(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(723) +]] +{ return math::sign(a); } + +export float4 sign(float4 a=float4(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(724) +]] +{ return math::sign(a); } + +export float sin(float a=0.) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(730) +]] +{ return math::sin(a); } + +export float2 sin(float2 a=float2(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(731) +]] +{ return math::sin(a); } + +export float3 sin(float3 a=float3(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(732) +]] +{ return math::sin(a); } + +export float4 sin(float4 a=float4(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(733) +]] +{ return math::sin(a); } + +export float2 sincos( + float a=0. [[ + anno::description("Input angle in radians.") + ]]) +[[ + anno::display_name("SinCos"), + anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/sincos.svg"), + anno::ui_order(739) +]] +{ float[]b = math::sincos(a); return float2(b[0],b[1]); } + +export float smoothstep( + float a=0. [[ + anno::description("Lower edge of the interpolation range.") + ]], + float b=1. [[ + anno::description("Upper edge of the interpolation range.") + ]], + float l=0. [[ + anno::description("Input value to evaluate against the interpolation range.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(740) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float2 l=float2(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(741) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float3 l=float3(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(742) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float4 l=float4(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(743) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(744) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(745) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(746) +]] +{ return math::smoothstep(a,b,l); } + +export float sqrt(float a=0.) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(750) +]] +{ return math::sqrt(a); } + +export float2 sqrt(float2 a=float2(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(751) +]] +{ return math::sqrt(a); } + +export float3 sqrt(float3 a=float3(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(752) +]] +{ return math::sqrt(a); } + +export float4 sqrt(float4 a=float4(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(753) +]] +{ return math::sqrt(a); } + +export color sqrt(color a=color(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(754) +]] +{ return math::sqrt(a); } + +export float step( + float a=0. [[ + anno::description("Threshold value.") + ]], + float b=0. [[ + anno::description("Input compared against the threshold.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(760) +]] +{ return math::step(a,b); } + +export float2 step( + float2 a=float2(0.) [[ + anno::description("Threshold value per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(761) +]] +{ return math::step(a,b); } + +export float3 step( + float3 a=float3(0.) [[ + anno::description("Threshold value per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(762) +]] +{ return math::step(a,b); } + +export float4 step( + float4 a=float4(0.) [[ + anno::description("Threshold value per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(763) +]] +{ return math::step(a,b); } + +export float tan(float a=0.) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(770) +]] +{ return math::tan(a); } + +export float2 tan(float2 a=float2(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(771) +]] +{ return math::tan(a); } + +export float3 tan(float3 a=float3(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(772) +]] +{ return math::tan(a); } + +export float4 tan(float4 a=float4(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(773) +]] +{ return math::tan(a); } + +export float remap( + float a=0. [[ + anno::description("Input value in the source range.") + ]], + float start_old=0. [[ + anno::description("Lower bound of the source range.") + ]], + float end_old=1. [[ + anno::description("Upper bound of the source range.") + ]], + float start_new=0. [[ + anno::description("Lower bound of the destination range.") + ]], + float end_new=1. [[ + anno::description("Upper bound of the destination range.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(680) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float2 remap( + float2 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float2 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float2 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float2 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float2 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(681) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float3 remap( + float3 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float3 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float3 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float3 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float3 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(682) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float4 remap( + float4 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float4 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float4 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float4 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float4 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(683) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/psyonic_ability_hand_right_large/payloads/Physics/mujoco.usda b/psyonic_ability_hand_right_large/payloads/Physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..82632033927458f3baecdcb05bee7535e1551a18 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/Physics/mujoco.usda @@ -0,0 +1,691 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" +{ + over "base" + { + over "visuals" + { + over "wrist_mesh" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + + over "palm_mesh" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_2" ( + ) + { + } + } + } + } + } + } + + over "index_L1" + { + over "visuals" + { + over "index_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "joints" + { + over "index_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "index_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "middle_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "middle_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "pinky_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "pinky_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "ring_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "ring_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "thumb_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "thumb_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + } + + over "index_L2" + { + over "fsr0" + { + } + + over "fsr1" + { + } + + over "fsr2" + { + } + + over "fsr3" + { + } + + over "fsr4" + { + } + + over "fsr5" + { + } + + over "index_anchor" + { + } + + over "visuals" + { + over "index_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "middle_L1" + { + over "visuals" + { + over "middle_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "middle_L2" + { + over "fsr10" + { + } + + over "fsr11" + { + } + + over "fsr6" + { + } + + over "fsr7" + { + } + + over "fsr8" + { + } + + over "fsr9" + { + } + + over "middle_anchor" + { + } + + over "visuals" + { + over "middle_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "pinky_L1" + { + over "visuals" + { + over "pinky_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "pinky_L2" + { + over "fsr18" + { + } + + over "fsr19" + { + } + + over "fsr20" + { + } + + over "fsr21" + { + } + + over "fsr22" + { + } + + over "fsr23" + { + } + + over "pinky_anchor" + { + } + + over "visuals" + { + over "pinky_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_8" ( + ) + { + } + } + } + } + } + } + + over "ring_L1" + { + over "visuals" + { + over "ring_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "ring_L2" + { + over "fsr12" + { + } + + over "fsr13" + { + } + + over "fsr14" + { + } + + over "fsr15" + { + } + + over "fsr16" + { + } + + over "fsr17" + { + } + + over "ring_anchor" + { + } + + over "visuals" + { + over "ring_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "thumb_L1" + { + over "visuals" + { + over "thumb_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_10" ( + ) + { + } + } + } + } + } + } + + over "thumb_L2" + { + over "fsr24" + { + } + + over "fsr25" + { + } + + over "fsr26" + { + } + + over "fsr27" + { + } + + over "fsr28" + { + } + + over "fsr29" + { + } + + over "thumb_anchor" + { + } + + over "visuals" + { + over "thumb_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_12" ( + ) + { + } + } + } + } + } + } + + over "root_joint" + { + } + + over "Looks" + { + } + + over "VisualMaterials" + { + } +} + diff --git a/psyonic_ability_hand_right_large/payloads/Physics/none.usda b/psyonic_ability_hand_right_large/payloads/Physics/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..980157bebb3a5660cdb4df3681290ba7df6fb0b2 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/Physics/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_right_large/payloads/Physics/physics.usda b/psyonic_ability_hand_right_large/payloads/Physics/physics.usda new file mode 100644 index 0000000000000000000000000000000000000000..3f7f5068b1b1b576d1228997a366f33fec316555 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/Physics/physics.usda @@ -0,0 +1,584 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" ( + prepend apiSchemas = ["MaterialBindingAPI"] +) +{ + rel material:binding:physics = + + over "base" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.00065452, -0.00598838, 0.05077265) + float3 physics:diagonalInertia = (0.0003769, 0.00047625, 0.00016893001) + float physics:mass = 0.37511 + quatf physics:principalAxes = (0.99636436, 0.08355953, -0.015764225, 0.0052371603) + rel physics:simulationOwner + + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "index_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "joints" + { + def PhysicsRevoluteJoint "index_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00028639444 + point3f physics:localPos0 = (-0.028, -0.009, 0.096) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.68592525, 0.046984136, -0.714476, -0.12970379) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "index_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.000028368644 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "middle_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00028220646 + point3f physics:localPos0 = (-0.008, -0.012, 0.099) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7045611, 0.07189584, -0.6983689, -0.10346699) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "middle_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.0000284562 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "pinky_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.0002635275 + point3f physics:localPos0 = (0.031, -0.007, 0.091) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7192458, 0.1222243, -0.68176734, -0.05422187) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "pinky_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.000025811863 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "ring_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00027439202 + point3f physics:localPos0 = (0.012, -0.01, 0.097) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7213953, 0.09878215, -0.6810987, -0.077041835) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "ring_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.000028514281 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "thumb_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00047244236 + point3f physics:localPos0 = (-0.024047667, 0.0037812474, 0.03232965) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.094797164, -0.044030096, 0.0041969586, -0.99451363) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -99.69465 + float physics:upperLimit = 0 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "thumb_q2" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00027644983 + point3f physics:localPos0 = (0.02782835, 1.7436511e-19, 0.0147507) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.6087614, 0.7933533, 2.1287735e-18, 1.6334654e-18) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "index_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639) + float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255) + rel physics:simulationOwner + + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "middle_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "middle_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639) + float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255) + rel physics:simulationOwner + + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "pinky_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "pinky_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.013324922, -0.008158947, -0.00004076896) + float3 physics:diagonalInertia = (1.697532e-7, 8.78977e-7, 8.9374424e-7) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.9739561, 0.007157835, -0.003735181, -0.22659291) + rel physics:simulationOwner + + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "ring_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "ring_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639) + float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255) + rel physics:simulationOwner + + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "thumb_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.01429402, -0.0018885, 0.00496979) + float3 physics:diagonalInertia = (7.780558e-8, 2.539683e-7, 2.406983e-7) + float physics:mass = 0.002 + quatf physics:principalAxes = (0.9624208, -0.078504354, -0.24595936, -0.08418586) + rel physics:simulationOwner + + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "thumb_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.027762456, 0.005621711, 0.0037611115) + float3 physics:diagonalInertia = (0.0000047610692, 0.000024948358, 0.00002585989) + float physics:mass = 0.06 + quatf physics:principalAxes = (0.9774349, 0.03599411, 0.0052931556, 0.20808075) + rel physics:simulationOwner + + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_12" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def PhysicsFixedJoint "root_joint" ( + prepend apiSchemas = ["PhysicsArticulationRootAPI"] + ) + { + rel physics:body1 = + } + + def Material "PhysicsMaterial" ( + prepend apiSchemas = ["PhysicsMaterialAPI"] + ) + { + float physics:dynamicFriction = 4 + float physics:restitution = 0 + float physics:staticFriction = 4 + } +} + diff --git a/psyonic_ability_hand_right_large/payloads/Physics/physx.usda b/psyonic_ability_hand_right_large/payloads/Physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..adb4dfa6db5861d78511b7d545c6d1095dfcaee8 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/Physics/physx.usda @@ -0,0 +1,130 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + subLayers = [ + @./physics.usda@ + ] + upAxis = "Z" +) + +def "ability_hand" +{ + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "index_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "middle_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "pinky_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "ring_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 2311.248 + } + + over "thumb_q2" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + } + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 1 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } + + over "PhysicsMaterial" ( + prepend apiSchemas = ["PhysxMaterialAPI"] + ) + { + uniform token physxMaterial:frictionCombineMode = "max" + } +} + diff --git a/psyonic_ability_hand_right_large/payloads/Robot/none.usda b/psyonic_ability_hand_right_large/payloads/Robot/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..980157bebb3a5660cdb4df3681290ba7df6fb0b2 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/Robot/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_right_large/payloads/Robot/robot.usda b/psyonic_ability_hand_right_large/payloads/Robot/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..4c97936c7d3cf189cca48c8d40caa9fe0f1f13f3 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/Robot/robot.usda @@ -0,0 +1,287 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "ability_hand" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string[] isaac:changelog + string isaac:description + token isaac:license + string isaac:namespace + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType + string isaac:source + string isaac:version + + over "base" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "index_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "index_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + } + + over "index_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "pinky_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "pinky_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } +} + diff --git a/psyonic_ability_hand_right_large/payloads/Sensor/none.usda b/psyonic_ability_hand_right_large/payloads/Sensor/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..980157bebb3a5660cdb4df3681290ba7df6fb0b2 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/Sensor/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_right_large/payloads/Sensor/sensors.usda b/psyonic_ability_hand_right_large/payloads/Sensor/sensors.usda new file mode 100644 index 0000000000000000000000000000000000000000..912ec8511b4b723ee8f4faba7aa524f8221dded6 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/Sensor/sensors.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_right_large/payloads/base.usda b/psyonic_ability_hand_right_large/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..87ba66b35ab61516191fca10f0de8d9d8f6047b5 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/base.usda @@ -0,0 +1,1296 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + subLayers = [ + @./robot.usda@ + ] + upAxis = "Z" +) + +def Xform "ability_hand" +{ + 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"] + + def Xform "base" + { + 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"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "wrist_mesh" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + + def Xform "palm_mesh" + { + token visibility = "inherited" + quatd xformOp:orient = (0.0442296601831913, 0.0006102907354943454, -0.9990212321281433, -0.000027017966203857213) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "palm_mesh_coll" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.0442296601831913, 0.0006102907354943454, -0.9990212321281433, -0.000027017966203857213) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + + def Xform "gripper_01" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.065 + custom float gripper_maxPayload = 0.4 + string isaac:Description = "Multi-finger hand grasp center" + token simready:attactment:socketType = "Gripper" + double3 xformOp:translate = (-0.01, 0.028, 0.09) + uniform token[] xformOpOrder = ["xformOp:translate"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0.035355, 0.035355)] + point3f[] points = [(0, 0, 0), (0, 0.035355, 0.035355)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, -0.017678, -0.017678), (0, 0.017678, 0.017678)] + point3f[] points = [(0, 0.017678, -0.017678), (0, -0.017678, 0.017678)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + } + + def Xform "index_L1" + { + quatd xformOp:orient = (0.6859252452850342, 0.04698413610458374, -0.7144759893417358, -0.12970378994941711) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.02800000086426735, -0.008999999612569809, 0.09600000083446503) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "index_mesh_1" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "index_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Scope "joints" + { + } + + def Xform "index_L2" + { + quatd xformOp:orient = (0.684699296951294, -0.2234230637550354, -0.6802687644958496, 0.13602709770202637) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.02973959967494011, -0.015294894576072693, 0.1340540498495102) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr0" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr1" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029610000550746918, -0.013939999975264072, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr2" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr3" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014720000326633453, -0.010999999940395355, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr4" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014720000326633453, -0.010990000329911709, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr5" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.037039998918771744, -0.01785000041127205, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "index_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "index_mesh_2" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "index_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "middle_L1" + { + quatd xformOp:orient = (0.7045611143112183, 0.07189583778381348, -0.6983689069747925, -0.10346698760986328) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.00800000037997961, -0.012000000104308128, 0.0989999994635582) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "middle_mesh_1" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "middle_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "middle_L2" + { + quatd xformOp:orient = (0.6921801567077637, -0.19429698586463928, -0.6746382713317871, 0.16732728481292725) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.007730953861027956, -0.018318383023142815, 0.13708895444869995) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr10" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014720000326633453, -0.010990000329911709, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr11" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.037039998918771744, -0.01785000041127205, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr6" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr7" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029610000550746918, -0.013939999975264072, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr8" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr9" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014720000326633453, -0.010999999940395355, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "middle_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "middle_mesh_2" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "middle_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "pinky_L1" + { + quatd xformOp:orient = (0.7192457914352417, 0.12222430109977722, -0.6817673444747925, -0.05422186851501465) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03099999949336052, -0.007000000216066837, 0.09099999815225601) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "pinky_mesh_1" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "pinky_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "pinky_L2" + { + quatd xformOp:orient = (0.6873977184295654, -0.14141085743904114, -0.6780475378036499, 0.21849222481250763) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.033192917704582214, -0.013271328061819077, 0.12903451919555664) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr18" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr19" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr20" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr21" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr22" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr23" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "pinky_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "pinky_mesh_2" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "pinky_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_8" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "ring_L1" + { + quatd xformOp:orient = (0.7213953137397766, 0.09878215193748474, -0.6810986995697021, -0.07704183459281921) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.012000000104308128, -0.009999999776482582, 0.09700000286102295) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "ring_mesh_1" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "ring_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "ring_L2" + { + quatd xformOp:orient = (0.6979194283485413, -0.16290467977523804, -0.6686668992042542, 0.19812890887260437) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014245127327740192, -0.016297917813062668, 0.13502708077430725) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr12" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr13" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029610000550746918, -0.013939999975264072, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr14" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr15" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014720000326633453, -0.010999999940395355, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr16" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014720000326633453, -0.010990000329911709, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr17" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.037039998918771744, -0.01785000041127205, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "ring_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "ring_mesh_2" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "ring_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "thumb_L1" + { + quatd xformOp:orient = (0.09479716420173645, -0.044030096381902695, 0.004196958616375923, -0.9945136308670044) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "thumb_mesh_1" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "thumb_coll_mesh_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.6087613105773926, 0.7933534383773804, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.027828399091959, 0, 0.014750700443983078) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_10" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "thumb_L2" + { + quatd xformOp:orient = (0.09264028072357178, 0.048403818160295486, -0.7864457368850708, -0.6087512373924255) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.04996439814567566, -0.0014761881902813911, 0.04943762347102165) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr24" + { + quatd xformOp:orient = (0.40374043583869934, -0.8910711407661438, -0.18884731829166412, 0.08557149767875671) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.04746999964118004, 0.01988000050187111, -0.0012390000047162175) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr25" + { + quatd xformOp:orient = (0.7761160135269165, -0.5955318212509155, -0.12621015310287476, 0.1644894778728485) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.047210000455379486, 0.021239999681711197, 0.006438999902456999) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr26" + { + quatd xformOp:orient = (0.965203583240509, -0.15936213731765747, -0.03376941755414009, 0.2045615166425705) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.04896000027656555, 0.016540000215172768, 0.012409999966621399) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr27" + { + quatd xformOp:orient = (0.40374043583869934, -0.8910711407661438, -0.18884731829166412, 0.08557149767875671) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.037390001118183136, 0.015359999611973763, -0.0012890000361949205) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr28" + { + quatd xformOp:orient = (0.965203583240509, -0.15936213731765747, -0.03376941755414009, 0.2045615166425705) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03888000175356865, 0.012000000104308128, 0.012439999729394913) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr29" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.05590999871492386, 0.02160000056028366, 0.00558000011369586) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "thumb_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.0520012266933918, 0.02800869382917881, 0.006984835956245661) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "thumb_mesh_2" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "thumb_hull_mesh_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (3.092890494826861e-7, -0.9852590560913086, -0.1710689812898636, 5.370137046156742e-8) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.06518670171499252, 0.023340199142694473, 0.0039348299615085125) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_12" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Scope "Looks" + { + } + + def Scope "VisualMaterials" + { + } +} + diff --git a/psyonic_ability_hand_right_large/payloads/geometries.usd b/psyonic_ability_hand_right_large/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..24b5d50783241ac3b1c2a950160a8ffb5fcf8470 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:baee1d318721b0e03fd7097171f61b644ec75fac948610aaf045113fdc8a35fc +size 4202634 diff --git a/psyonic_ability_hand_right_large/payloads/instances.usda b/psyonic_ability_hand_right_large/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..40977c83779cc8be0c5d483e8c057d9bf346353e --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/instances.usda @@ -0,0 +1,550 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Instances" +{ + def Xform "mesh" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_2" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_3" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_4" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_5" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_5" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_6" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_6" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_7" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_7" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_8" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_8" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_9" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_9" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_10" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_10" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_11" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_11" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_12" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_12" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } +} + diff --git a/psyonic_ability_hand_right_large/payloads/materials.usda b/psyonic_ability_hand_right_large/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..f36f7ff5ab76d728b2be025567087772452efbe6 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/materials.usda @@ -0,0 +1,173 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "DefaultMaterial" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "DefaultMaterial" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.49803925, 0.49803925, 0.49803925) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } +} + diff --git a/psyonic_ability_hand_right_large/payloads/robot.usda b/psyonic_ability_hand_right_large/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..ab57e20a7ccba907996d57f88d06fe0f3c6023da --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/robot.usda @@ -0,0 +1,542 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string[] isaac:changelog + string isaac:description + token isaac:license + string isaac:namespace + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + , + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType = "End Effector" + string isaac:source + string isaac:version + + over "base" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "index_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "index_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + } + + over "index_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr0" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr2" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr3" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr4" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr5" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "index_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "middle_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr10" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr11" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr6" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr7" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr8" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr9" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "middle_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "pinky_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "pinky_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr18" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr19" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr20" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr21" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr22" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr23" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "pinky_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "ring_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr12" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr13" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr14" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr15" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr16" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr17" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "ring_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "thumb_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr24" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr25" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr26" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr27" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr28" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr29" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "thumb_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } +} + diff --git a/psyonic_ability_hand_right_large/runnables/physics/mujoco.usda b/psyonic_ability_hand_right_large/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..b300145d8fc93b95416f16fa27b4876edae74b38 --- /dev/null +++ b/psyonic_ability_hand_right_large/runnables/physics/mujoco.usda @@ -0,0 +1,428 @@ +#usda 1.0 +( + defaultPrim = "ability_hand" +) + +def "ability_hand" +{ + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "gripper_01" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_12" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "index_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "middle_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "pinky_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "ring_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "thumb_q2" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + def "MuJoCoActuators" + { + def MjcActuator "act_ability_hand_joints_index_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -10.255745043506646, -0.0041022981601429405] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_middle_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -10.105774579900677, -0.0040423097225705225] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_pinky_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -9.436883909197574, -0.0037747534035964705] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_ring_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -9.825940022057962, -0.003930376162235637] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_thumb_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -16.91809512127103, -0.006767238371341571] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 1.2000000476837158 + double mjc:forceRange:min = -1.2000000476837158 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_thumb_q2" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -9.89963093301323, -0.003959852197114477] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } +} + diff --git a/psyonic_ability_hand_right_large/runnables/physics/newton.usda b/psyonic_ability_hand_right_large/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..8c1f44eb36c9b711de0e5a4a046fb51772219e56 --- /dev/null +++ b/psyonic_ability_hand_right_large/runnables/physics/newton.usda @@ -0,0 +1,370 @@ +#usda 1.0 +( + defaultPrim = "ability_hand" +) + +over "ability_hand" +{ + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_12" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "root_joint" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] + ) + { + bool newton:selfCollisionEnabled = 0 + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "index_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "middle_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "pinky_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00065 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "ring_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.146025 + float newton:damping = 0.003245 + float newton:velocityLimit = 2311.248 + } + + over "thumb_q2" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + } +} + diff --git a/psyonic_ability_hand_right_large/runnables/physics/physx.usda b/psyonic_ability_hand_right_large/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..941b9c3b08d3eff9540ef94d8452e82e1fd230c5 --- /dev/null +++ b/psyonic_ability_hand_right_large/runnables/physics/physx.usda @@ -0,0 +1,374 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" +{ + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "index_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "middle_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "middle_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "pinky_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "pinky_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "ring_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = -0 + float state:angular:physics:velocity = 0 + } + + over "ring_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "thumb_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 2311.248 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "thumb_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } + + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_12" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } +} + diff --git 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/dev/null +++ b/psyonic_ability_hand_right_small/.metadata/com.nvidia.simready.root_usds.json @@ -0,0 +1,6 @@ +{ + "format_version": "1.0", + "entries": [ + "ability_hand_right_small.usda" + ] +} diff --git a/psyonic_ability_hand_right_small/.metadata/license.txt b/psyonic_ability_hand_right_small/.metadata/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..da6ab6cc8f333d7e89a99812866df8f24374d47c --- /dev/null +++ b/psyonic_ability_hand_right_small/.metadata/license.txt @@ -0,0 +1,396 @@ +Attribution 4.0 International + +======================================================================= + +Creative Commons Corporation ("Creative Commons") is not a law firm and +does not provide legal services or legal advice. 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Except for the limited purpose of indicating that +material is shared under a Creative Commons public license or as +otherwise permitted by the Creative Commons policies published at +creativecommons.org/policies, Creative Commons does not authorize the +use of the trademark "Creative Commons" or any other trademark or logo +of Creative Commons without its prior written consent including, +without limitation, in connection with any unauthorized modifications +to any of its public licenses or any other arrangements, +understandings, or agreements concerning use of licensed material. For +the avoidance of doubt, this paragraph does not form part of the +public licenses. + +Creative Commons may be contacted at creativecommons.org. + diff --git a/psyonic_ability_hand_right_small/.metadata/psyonic_ability_hand_right_small_benchmark.json b/psyonic_ability_hand_right_small/.metadata/psyonic_ability_hand_right_small_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..845205dedc173e79ce84cf8661495a3c08bfd02e --- /dev/null +++ b/psyonic_ability_hand_right_small/.metadata/psyonic_ability_hand_right_small_benchmark.json @@ -0,0 +1,26141 @@ +{ + "schema_version": "1.0", + "asset": "psyonic_ability_hand_right_small", + "run_timestamp": "2026-10-31T20:07:08.573916+00:00", + "passed": true, + "results": [ + { + "test_name": "culling_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 19.156, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.376, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 273.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.062, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "culling_xz_qualified_pairs": { + "value": 8, + "unit": null + }, + "culling_xz_omitted_pairs": { + "value": 0, + "unit": null + }, + "culling_xz_omitted_indices": { + "value": [], + "unit": null + }, + "culling_xz_coverage_complete": { + "value": 1, + "unit": null + }, + "culling_xz_max_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_mean_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_worst_angle": { + "value": 0.0, + "unit": null + }, + "culling_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "culling_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 19.156, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.376, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 273.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.062, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "culling_xz_qualified_pairs": { + "value": 8, + "unit": null + }, + "culling_xz_omitted_pairs": { + "value": 0, + "unit": null + }, + "culling_xz_omitted_indices": { + "value": [], + "unit": null + }, + "culling_xz_coverage_complete": { + "value": 1, + "unit": null + }, + "culling_xz_max_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_mean_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_worst_angle": { + "value": 0.0, + "unit": null + }, + "culling_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 206.094, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 35, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 12, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 12, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 12.28, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1754.29, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.422, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 57596, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 58075, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.1665, + 0.1666, + 0.1664 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.0, + "unit": null + }, + "display_color_response_ratio": { + "value": 0.999983, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.999913, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 206.094, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 35, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 12, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 12, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 12.28, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1754.29, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.422, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 57596, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 58075, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.1665, + 0.1666, + 0.1664 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.0, + "unit": null + }, + "display_color_response_ratio": { + "value": 0.999983, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.999913, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "drive_gain_validation", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 8.172, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 6, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 4, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 4, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.796, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 6, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 132.67, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.547, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 6, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 6, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987755971802, + "start": -1.1187021361352967e-12, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 28, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_002": { + "value": { + "schema_version": 1, + "name": "dgv_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987755984196, + "start": 1.2074946619845817e-13, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 31, + "json": "motion_history/dgv_joint_002.json", + "csv": "motion_history/dgv_joint_002.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_003": { + "value": { + "schema_version": 1, + "name": "dgv_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987755969663, + "start": -1.3325288138535396e-12, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 34, + "json": "motion_history/dgv_joint_003.json", + "csv": "motion_history/dgv_joint_003.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_004": { + "value": { + "schema_version": 1, + "name": "dgv_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987755985505, + "start": 2.5170802399852865e-13, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 34, + "json": "motion_history/dgv_joint_004.json", + "csv": "motion_history/dgv_joint_004.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_005": { + "value": { + "schema_version": 1, + "name": "dgv_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": -0.523598775598465, + "start": -1.6623655848136548e-13, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 29, + "json": "motion_history/dgv_joint_005.json", + "csv": "motion_history/dgv_joint_005.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_006": { + "value": { + "schema_version": 1, + "name": "dgv_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987756020699, + "start": 3.7710763331477715e-12, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 29, + "json": "motion_history/dgv_joint_006.json", + "csv": "motion_history/dgv_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 20.172, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 6, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 4, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 4, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.625, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 32, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 19.53, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.109, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 6, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 5, + "unit": null + }, + "dgv_joints_failed": { + "value": 1, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235971846337689, + "start": -1.590964529896155e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 482, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_002": { + "value": { + "schema_version": 1, + "name": "dgv_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.523597214962575, + "start": -1.5606357237629709e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 482, + "json": "motion_history/dgv_joint_002.json", + "csv": "motion_history/dgv_joint_002.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_003": { + "value": { + "schema_version": 1, + "name": "dgv_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235973337301912, + "start": -1.4418681075767381e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 482, + "json": "motion_history/dgv_joint_003.json", + "csv": "motion_history/dgv_joint_003.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_004": { + "value": { + "schema_version": 1, + "name": "dgv_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235972078589667, + "start": -1.5677393321311683e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 482, + "json": "motion_history/dgv_joint_004.json", + "csv": "motion_history/dgv_joint_004.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_005": { + "value": { + "schema_version": 1, + "name": "dgv_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": -0.5235978134897833, + "start": 9.621085155231413e-07, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 1009, + "json": "motion_history/dgv_joint_005.json", + "csv": "motion_history/dgv_joint_005.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_006": { + "value": { + "schema_version": 1, + "name": "dgv_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235494387776326, + "start": -4.933682066621259e-05, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 296, + "json": "motion_history/dgv_joint_006.json", + "csv": "motion_history/dgv_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 62.969, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 6, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 4, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "eff_force_point_observation": { + "value": { + "basis": "live child-body center of mass", + "unit": "native articulation world coordinates", + "joint": "thumb_q2", + "body_path": "/World/AssetRoot/Asset/thumb_L2", + "direction": "-XZ", + "world_com": [ + -0.0776851579687189, + -0.001711773837869416, + 0.05637122117760316 + ] + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 5.187, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 72, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 72.04, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.031, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joints_tested": { + "value": 6, + "unit": null + }, + "eff_joints_passed": { + "value": 6, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "index_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "middle_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "pinky_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "ring_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "thumb_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "thumb_q2", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/index_L1", + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + }, + 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"authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_006.json", + "csv": "motion_history/eff_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "full_range_sweep", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 110.031, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 26.2, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 6288, + "planned_nominal_ticks_estimate": 6288, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 109.93700000003446, + "setup_elapsed_wall_seconds": 1.047000000020489, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3250.0629999999655, + "observed_service_seconds_per_nominal_tick": 0.017317111959289755, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 93.03900000150315, + "attempts": 6288 + }, + "captures": { + "wall_seconds": 7.9089999998686835, + "attempts": 48 + }, + "bounds": { + "wall_seconds": 2.246999999973923, + "attempts": 271 + }, + "camera": { + "wall_seconds": 0.5760000003501773, + "attempts": 5400 + }, + "optional_motion": { + "wall_seconds": 1.0089999998454005, + "attempts": 6102 + }, + "commands": { + "wall_seconds": 1.528999998816289, + "attempts": 6048 + }, + "encoding": { + "wall_seconds": 1.672000000020489, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 10, + "unit": null + }, + "frs_joints_tested": { + "value": 6, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 4, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "frs_bbox_baseline_volume": { + "value": 0.0019496865362336098, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "index_q1", + "segment": "to_max", + "requested_start": -1.102964291080366e-12, + "observed_start": -1.102964291080366e-12, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 8.067776679992676, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.012500159212121234 + }, + { + "joint": "index_q1", + "segment": "to_min", + "requested_start": 1.5659999012947083, + "observed_start": 1.5660680532455444, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 8.067776679992676, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.011111796637006677 + }, + { + "joint": "index_q1", + "segment": "to_zero", + "requested_start": 0.17399998903274538, + "observed_start": 0.17401158809661865, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 8.067776679992676, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.001388999165425897 + }, + { + "joint": "middle_q1", + "segment": "to_max", + "requested_start": 1.3139330931871002e-13, + "observed_start": 1.3139330931871002e-13, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 8.067776679992676, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + 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by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "ring_q1", + "follower_joint_name": "ring_q2", + "gearing": 1.0585132837295532, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": 1.0585132837295532, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + 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+ }, + "incremental_displacement": { + "unit": "rad", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "rad", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "rad", + "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "ring_q1", + "follower_joint_name": "ring_q2", + "gearing": 1.0585132837295532, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": 1.0585132837295532, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "ring_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q2", + "meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_004.json", + "csv": "motion_history/mim_follower_004.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "multi_joint_coordination", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 27.687, + "message": "", + "metrics": { + "mjc_joints_without_safe_range": { 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278.2, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 4.015, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.7, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 2.1, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 0, + "unit": null + }, + "pivot_ground_penetration": { + "value": 1, + "unit": null + }, + "pivot_orbital_motion": { + "value": 1, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 3.266, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 0.5, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 250.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.252027, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "presence", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 3.266, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 0.5, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 250.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.252027, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 45.516, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 8.345, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1669.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 1, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 1, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 1, + "unit": null + }, + "universal_surface_materials_total": { + "value": 1, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 35, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 55713, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 45.516, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 8.345, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1669.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 1, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 1, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 1, + "unit": null + }, + "universal_surface_materials_total": { + "value": 1, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 35, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 55713, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.281, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.453, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "state_accuracy", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 30.359, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 6, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 5.11, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 60, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 85.17, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.672, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 6, + "unit": null + }, + "sta_joints_passed": { + "value": 6, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 0.01720306939646434, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + }, + "motion_history_sta_joint_002": { + "value": { + "schema_version": 1, + "name": "sta_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_002.json", + "csv": "motion_history/sta_joint_002.csv" + }, + "unit": null + }, + "motion_history_sta_joint_003": { + "value": { + "schema_version": 1, + "name": "sta_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_003.json", + "csv": "motion_history/sta_joint_003.csv" + }, + "unit": null + }, + "motion_history_sta_joint_004": { + "value": { + "schema_version": 1, + "name": "sta_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_004.json", + "csv": "motion_history/sta_joint_004.csv" + }, + "unit": null + }, + "motion_history_sta_joint_005": { + "value": { + "schema_version": 1, + "name": "sta_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_005.json", + "csv": "motion_history/sta_joint_005.csv" + }, + "unit": null + }, + "motion_history_sta_joint_006": { + "value": { + "schema_version": 1, + "name": "sta_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_006.json", + "csv": "motion_history/sta_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "state_accuracy_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 137.078, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 6, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 4.234, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 60, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 70.57, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.015, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 6, + "unit": null + }, + "sta_joints_passed": { + "value": 6, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 2.755414253644305, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + }, + "motion_history_sta_joint_002": { + "value": { + "schema_version": 1, + "name": "sta_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_002.json", + "csv": "motion_history/sta_joint_002.csv" + }, + "unit": null + }, + "motion_history_sta_joint_003": { + "value": { + "schema_version": 1, + "name": "sta_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_003.json", + "csv": "motion_history/sta_joint_003.csv" + }, + "unit": null + }, + "motion_history_sta_joint_004": { + "value": { + "schema_version": 1, + "name": "sta_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_004.json", + "csv": "motion_history/sta_joint_004.csv" + }, + "unit": null + }, + "motion_history_sta_joint_005": { + "value": { + "schema_version": 1, + "name": "sta_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 259, + "json": "motion_history/sta_joint_005.json", + "csv": "motion_history/sta_joint_005.csv" + }, + "unit": null + }, + "motion_history_sta_joint_006": { + "value": { + "schema_version": 1, + "name": "sta_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 191, + "json": "motion_history/sta_joint_006.json", + "csv": "motion_history/sta_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "velocity_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 7.688, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 6, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.047, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 6, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 174.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.532, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 6, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 8, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + }, + "motion_history_vel_joint_002": { + "value": { + "schema_version": 1, + "name": "vel_joint_002", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": 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support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 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+ "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 88, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + } + ] +} diff --git a/psyonic_ability_hand_right_small/.metadata/psyonic_ability_hand_right_small_validation.json b/psyonic_ability_hand_right_small/.metadata/psyonic_ability_hand_right_small_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..5e78f01b6545573a780a7bb59e132d36d24ec1eb --- /dev/null +++ b/psyonic_ability_hand_right_small/.metadata/psyonic_ability_hand_right_small_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/ability_hand_right_small.usda": { + "features_summary": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET028_Gripper.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + } + }, + "profile_id": "Robot-Gripper", + "profile_version": "3.0.0", + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } + } +} diff --git a/psyonic_ability_hand_right_small/.thumbs/256x256/ability_hand_right_small.usda.png b/psyonic_ability_hand_right_small/.thumbs/256x256/ability_hand_right_small.usda.png new file mode 100644 index 0000000000000000000000000000000000000000..56ef44a01d13244835496cc1dc15be11514fe733 --- /dev/null +++ b/psyonic_ability_hand_right_small/.thumbs/256x256/ability_hand_right_small.usda.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fefa17fbc0068e08811f47da59f3cc9159aa3fa63c7880977f4a42c728fe8606 +size 44733 diff --git a/psyonic_ability_hand_right_small/ability_hand_right_small.usda b/psyonic_ability_hand_right_small/ability_hand_right_small.usda new file mode 100644 index 0000000000000000000000000000000000000000..329ed4d89e0d028346f5d4e94d43060f6ce4d35f --- /dev/null +++ b/psyonic_ability_hand_right_small/ability_hand_right_small.usda @@ -0,0 +1,1813 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/ability_hand" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/ability_hand" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/ability_hand" + string variantSetName = "PhysX" + } + } + } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.16379835, 0.06493836, 0.18329634) + string asset_license = "CC-BY-4.0" + string asset_name = "ability_hand_right_small" + string asset_type = "robot" + string author = "Psyonic" + string category = "robot end effector" + double mass = 0.48654999933205545 + string qcode = "Q1340324" + int rigid_body_count = 11 + string source_file = "Psyonic/ability_hand_right_small/ability_hand_right_small.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "ability_hand" ( + kind = "component" + prepend references = [ + @./payloads/Physics/physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + string Robot = "none" + string Sensor = "none" + } + variantSets = ["Robot", "Sensor", "PhysX", "Newton", "MuJoCo"] +) +{ + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_2" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_8" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_10" + { + token visibility = "invisible" + } + } + } + } + } + } + variantSet "Robot" = { + "none" ( + prepend payload = @./payloads/Robot/none.usda@ + ) { + + } + "robot" ( + prepend payload = @./payloads/Robot/robot.usda@ + ) { + + } + } + variantSet "Sensor" = { + "none" ( + prepend payload = @./payloads/Sensor/none.usda@ + ) { + + } + "sensors" ( + prepend payload = @./payloads/Sensor/sensors.usda@ + ) { + + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/psyonic_ability_hand_right_small/com.nvidia.simready.packaging.json b/psyonic_ability_hand_right_small/com.nvidia.simready.packaging.json new file mode 100644 index 0000000000000000000000000000000000000000..cebb7f98e2b388f7a5e7bd1430061fbf912777f2 --- /dev/null +++ b/psyonic_ability_hand_right_small/com.nvidia.simready.packaging.json @@ -0,0 +1,49 @@ +{ + "format_version": "1.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.psyonic_ability_hand_right_small.1.0.0", + "license": "CC-BY-4.0", + "metadata": [ + { + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "hash": { + "sha256": "1e733729a6ac475152c759d043a3723b242893435fc14621c90920b32ab2a657" + } + }, + { + "name": "com.nvidia.simready.packaging.bom.json", + "hash": { + "sha256": "1de83fb273536e633359e022295ad1d4b0019a1662ba515a93311db813f2c5b3" + } + }, + { + "name": "com.nvidia.simready.root_usds.json", + "hash": { + "sha256": "e6febce0291a8ae74fbd19c0c41e55518f91437467b5a0ffc631ea1e7103824d" + } + }, + { + "name": "license.txt", + "hash": { + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + } + }, + { + "name": "psyonic_ability_hand_right_small_benchmark.json", + "hash": { + "sha256": "66a0c068e5a4f6023fec68d1ee591b7adf3d2e181637df0dffc0612202e19a44" + } + }, + { + "name": "psyonic_ability_hand_right_small_validation.json", + "hash": { + "sha256": "db8f9dc361813f6d7ec4191ed19400be3fac158a54ec55b08f363f65871aaaa9" + } + } + ], + "content_hash": { + "sha256": "a1a2d94a828230002a632ac3f110386be9149afdfd3870c79830415187d8bdfa" + }, + "package_hash": { + "sha256": "bc282db8aadce19a4df9d83e043fb0736af69fafab79c3d31c01d7fb34504ac8" + } +} diff --git a/psyonic_ability_hand_right_small/materials/mdl/OmniPBR.mdl b/psyonic_ability_hand_right_small/materials/mdl/OmniPBR.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bcd0685466a09006ac9e009969d32de43d6d04d9 --- /dev/null +++ b/psyonic_ability_hand_right_small/materials/mdl/OmniPBR.mdl @@ -0,0 +1,396 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBR_ClearCoat::*; + + +// OmniPBR // + +export material OmniPBR( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity") + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls the repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls the repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 2), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] = let { + +material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( + diffuse_color_constant: diffuse_color_constant, + diffuse_texture: diffuse_texture, + albedo_desaturation: albedo_desaturation, + albedo_add: albedo_add, + albedo_brightness: albedo_brightness, + diffuse_tint: diffuse_tint, + reflection_roughness_constant: reflection_roughness_constant, + reflection_roughness_texture_influence: reflection_roughness_texture_influence, + reflectionroughness_texture: reflectionroughness_texture, + metallic_constant: metallic_constant, + metallic_texture_influence: metallic_texture_influence, + metallic_texture: metallic_texture, + specular_level: specular_level, + enable_ORM_texture: enable_ORM_texture, + ORM_texture: ORM_texture, + ao_to_diffuse: ao_to_diffuse, + ao_texture: ao_texture, + enable_emission: enable_emission, + emissive_color: emissive_color, + emissive_color_texture: emissive_color_texture, + emissive_mask_texture: emissive_mask_texture, + emissive_intensity: emissive_intensity, + enable_opacity: enable_opacity, + opacity_texture: opacity_texture, + opacity_constant: opacity_constant, + enable_opacity_texture: enable_opacity_texture, + opacity_mode: opacity_mode, + opacity_threshold: opacity_threshold, + geometry_normal_roughness_strength: geometry_normal_roughness_strength, + bump_factor: bump_factor, + normalmap_texture: normalmap_texture, + detail_bump_factor: detail_bump_factor, + detail_normalmap_texture: detail_normalmap_texture, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v, + project_uvw: project_uvw, + world_or_object: world_or_object, + uv_space_index: uv_space_index, + texture_translate: texture_translate, + texture_rotate: texture_rotate, + texture_scale: texture_scale, + detail_texture_translate: detail_texture_translate, + detail_texture_rotate: detail_texture_rotate, + detail_texture_scale: detail_texture_scale, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials +); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/psyonic_ability_hand_right_small/materials/mdl/OmniPBRBase.mdl b/psyonic_ability_hand_right_small/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/psyonic_ability_hand_right_small/materials/mdl/OmniPBRBase.mdl @@ -0,0 +1,470 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +import ::anno::*; + +export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ + anno::hidden() +]] +{ + Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; + float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); + return math::normalize(N); +} + +export struct NormalData [[ + anno::hidden() +]] +{ + float3 normal; + float2 roughness; +}; + +export NormalData tangent_space_normal_roughness_texture( + uniform texture_2d texture + [[ + anno::description("The input texture"), + anno::usage("normal") + ]], + uniform float factor = 1.0f + [[ anno::description("Determines the degree of bumpiness") ]], + uniform bool flip_tangent_u = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + uniform bool flip_tangent_v = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + base::texture_coordinate_info uvw = base::texture_coordinate_info() + [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], + uniform float2 crop_u = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], + uniform float2 crop_v = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], + uniform tex::wrap_mode wrap_u = tex::wrap_repeat + [[ anno::description("Wrapping mode in the u direction") ]], + uniform tex::wrap_mode wrap_v = tex::wrap_repeat + [[ anno::description("Wrapping mode in the v direction") ]], + uniform bool clip = false + [[ + anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), + anno::hidden() + ]], + uniform float scale = 1. + [[ + anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float offset = 0. + [[ + anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float animation_start_time = 0. + [[ anno::description("When to start playing first frame of the animation ") ]], + uniform int2 animation_crop = int2(0, 0) + [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], + uniform tex::wrap_mode animation_wrap = tex::wrap_repeat + [[ anno::description("Defines what to do outside of regular animation time") ]], + uniform float animation_fps = 30 + [[ anno::description("Framerate to use for animation playback") ]] +) +[[ + anno::description("Interprets the color values of a bitmap as a vector in tangent space"), + anno::hidden(), + anno::noinline() +]] +{ + NormalData normalData; + normalData.roughness = float2(0); + normalData.normal = state::normal(); + + float frame = 0.0; + if(animation_crop != int2(0,0)) //only if we have an animation + { + frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation + switch ( animation_wrap) { + case tex::wrap_repeat: + frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: + math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; + break; + case tex::wrap_mirrored_repeat: + float animation_crop_2y = 2.0*animation_crop.y; + frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: + math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; + if(frame>animation_crop.y) + frame = animation_crop_2y-frame; + break; + case tex::wrap_clamp: + frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); + break; + case tex::wrap_clip: + frame += animation_crop.x; + if(frame < animation_crop.x || frame > animation_crop.y) return normalData; + break; + } + } + + if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource + factor == 0.0f) + return normalData; + { + if (clip) { + if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + bool pixel_flip_u = flip_tangent_u; + bool pixel_flip_v = flip_tangent_v; + //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile + if (wrap_u == tex::wrap_mirrored_repeat) { + if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) + pixel_flip_u = ! pixel_flip_u; + else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) + pixel_flip_u = ! pixel_flip_u; + } + if (wrap_v == tex::wrap_mirrored_repeat) { + if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) + pixel_flip_v = ! pixel_flip_v; + else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) + pixel_flip_v = ! pixel_flip_v; + } + + float3 transformed_tangent_u = uvw.tangent_u; + float3 transformed_tangent_v = uvw.tangent_v; + + if (pixel_flip_u) + transformed_tangent_u=-transformed_tangent_u; + if (pixel_flip_v) + transformed_tangent_v=-transformed_tangent_v; + + float3 tangent_space_normal; + float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); + if(normal_raw.x > 1.5) + { + // octahedron packed by OV + normal_raw.x -= 2.0; + normal_raw.x -= 0.5; + normal_raw.y -= 0.5; + tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); + normalData.roughness = float2(normal_raw.z, normal_raw.w); + } + else + { + // regular + tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; + normalData.roughness = float2(0); + } + + normalData.normal = math::normalize( + transformed_tangent_u * tangent_space_normal.x * factor + + transformed_tangent_v * tangent_space_normal.y * factor + + state::normal() * tangent_space_normal.z); + + return normalData; +} + + +export material OmniPBRBase( + + + // Albdeo // + + color diffuse_reflection_color = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Albedo Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflecitivity // + + float specular_reflection_roughness = float(0.0) [[ + anno::display_name("Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hidden() + ]], + float metalness = float(0.0) [[ + anno::display_name("Metalness"), + anno::description("Bias towards pure specular reflection"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(0.0, 1.0) + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emission_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + float emission_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::soft_range(0.0, 1000.0), + anno::enable_if("enable_emission == true") + ]], + + + // Geometry Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + float geometry_opacity = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + uniform float geometry_opacity_threshold = 0.f + [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + + + // Clearcoat // + + uniform bool enable_coat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a coat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float coat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for coat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + color coat_color = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float coat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float coat_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float2 coat_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Clearcoat aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hidden() + ]], + float coat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the coat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(0.0, 4.0) + ]], + float3 clearcoat_geometry_normal = state::normal() [[ + anno::display_name("Clearcoat Normal"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]], + float3 geometry_normal = state::normal() [[ + anno::display_name("Geometry Normal"), + anno::in_group("Geometry"), + anno::usage("normal") + ]] + +) +[[ + anno::display_name("OmniPBR Base"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Omni Materials"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = let{ + + // Diffuse Bsdf // + + color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; + + color base_color = tinted_diffuse_color; + + bsdf diffuse_bsdf = df::weighted_layer( + weight: 1.0, + layer: df::diffuse_reflection_bsdf( + tint: base_color, + roughness: float(0.0) + ), + base: bsdf(), + normal: geometry_normal + ); + + // Glossy Reflection Bsdf // + + float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); + float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); + bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: roughness_u, + roughness_v: roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf custom_curve_layer_bsdf = df::custom_curve_layer( + normal_reflectivity: 0.08, + grazing_reflectivity: 1.0, + exponent: 5.0, + weight: specular_level, + layer: ggx_smith_bsdf, + base: diffuse_bsdf, + normal: geometry_normal + ); + + bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); + + bsdf omni_PBR_bsdf = df::weighted_layer( + weight: metalness, + layer: directional_factor_bsdf, + base: custom_curve_layer_bsdf, + normal: geometry_normal + ); + + // Clear Coat // + + float coat_roughness_u = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); + float coat_roughness_v = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); + bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: coat_roughness_u, + roughness_v: coat_roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf opaque_coat = df::weighted_layer( + weight: coat_transparency, + layer: ::df::tint( + tint: coat_color, + base: omni_PBR_bsdf + ), + base: ::df::diffuse_reflection_bsdf( + tint: coat_color + ) + ); + + bsdf omni_PBR_coated_bsdf = df::fresnel_layer( + ior: coat_ior, + weight: coat_weight, + layer: coat_bsdf, + base: opaque_coat, + normal: clearcoat_geometry_normal + ); + + bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; + + color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); + + float opacity_value = geometry_opacity; + float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; + + material_emission emission = material_emission( + df::diffuse_edf(), + intensity: emission_value + ); + + material_surface surface = material_surface( + scattering: final_bsdf, + emission: emission + ); + + material_geometry geometry = material_geometry( + normal: state::rounded_corner_normal( + radius: round_edges_radius, + across_materials: round_edges_across_materials, + roundness: round_edges_roundness + ), + cutout_opacity: cutout_opacity + ); + +} in material( + surface: surface, + geometry: geometry +); diff --git a/psyonic_ability_hand_right_small/materials/mdl/OmniPBR_ClearCoat.mdl b/psyonic_ability_hand_right_small/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/psyonic_ability_hand_right_small/materials/mdl/OmniPBR_ClearCoat.mdl @@ -0,0 +1,711 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBRBase::*; + +// Functions // + + +// Returns a matrix from R,T,S. inputs // + +uniform float4x4 rotation_translation_scale( + uniform float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + uniform float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + uniform float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct a transformation matrix from euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0.0 , 0.0 , 0.0, + 0.0 , scaling.y , 0.0 , 0.0, + 0.0 , 0.0 , scaling.z , 0.0, + translation.x , translation.y , translation.z , 1.0); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0.0 , 0.0 , 0 , 1.0); + + return scale * rotate; +} + +// Returns the normal n in tangent space, given n is in internal space. // + +float3 transform_internal_to_tangent(float3 n) +{ + /* flip_tangent_v */ + return + n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ + n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ + n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); +} + +// Returns the normal n in internal space, given n is in tangent space. +float3 transform_tangent_to_internal(float3 n) +{ + return state::texture_tangent_u(0) * n.x - + state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ + state::normal() * n.z; +} + +// Returns a normal by adding a detail normal to a global normal. +export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) +{ + // http://blog.selfshadow.com/publications/blending-in-detail/ + float3 n_t = transform_internal_to_tangent(n); + float3 nd_t = transform_internal_to_tangent(nd); + n_t = n_t + float3(0.,0.,1.); + nd_t = nd_t * float3(-1.,-1.,1.); + n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; + return math::normalize(transform_tangent_to_internal(n)); +} + +base::texture_return multiply_colors( + color color_1 = color(1.0, 1.0, 1.0), + color color_2 = color(.5, .5, .5), + float weight = 1.0 + ) +[[ + anno::hidden() +]] +{ + return base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: color_2, + weight: weight, + mode: base::color_layer_multiply + )), + base: color_1 + ); +} + + +// OmniPBR Clearcoat // + +export material OmniPBR_ClearCoat( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Clearcoat // + + uniform bool enable_clearcoat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a clearcoat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float clearcoat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for clearcoat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + color clearcoat_tint = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float clearcoat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_reflection_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the clearcoat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(4.0)) + ]], + uniform float clearcoat_bump_factor = float(1.0) [[ + anno::display_name("Clearcoat Normal Map Strength"), + anno::description("Strength of normal map."), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ + anno::display_name("Clearcoat Normal Map"), + anno::description("Enables the usage of the normalmap texture"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + uniform float2 clearcoat_texture_translate = float2(0.0) [[ + anno::display_name("Clearcoat Texture Translate"), + anno::description("Controls the position of the clearcoat texture"), + anno::ui_order(1), + anno::in_group("UV") + ]], + uniform float clearcoat_texture_rotate = float(0.0) [[ + anno::display_name("Clearcoat Texture Rotate"), + anno::description("Rotates angle of the clearcoat texture in degrees"), + anno::ui_order(2), + anno::in_group("UV") + ]], + uniform float2 clearcoat_texture_scale = float2(1.0) [[ + anno::display_name("Clearcoat Texture Tiling"), + anno::description("Controls the repetition of the clearcoat texture"), + anno::ui_order(3), + anno::in_group("UV") + ]], + float clearcoat_flatten = float(1.0) [[ + anno::display_name("Clearcoat Flatten"), + anno::description("Flattens the clearcoat to even out the underlying bump maps"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR ClearCoat "), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) +]] = let { + + // UVW lookup and transformation // + base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; + + base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( + coordinate_system: the_system, + texture_space: uv_space_index, + projection_type: base::projection_cubic + ) : + base::coordinate_source( + coordinate_system: base::texture_coordinate_uvw, + texture_space: uv_space_index + ); + + base::texture_coordinate_info transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(texture_scale.x, texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), + translation: float3(texture_translate.x, texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), + translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), + translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) + ), + coordinate: uvw + ); + + // Normal calculations // + OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); + + OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: normalmap_texture, + factor: bump_factor, + uvw: transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + //flip_tangent_v: true + + ) : defaultData; + float3 the_normal = normal_data.normal; + + OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: detail_normalmap_texture, + factor: detail_bump_factor, + uvw: detail_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 detail_normal = detail_normal_data.normal; + + OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: clearcoat_normalmap_texture, + factor: clearcoat_bump_factor, + uvw: clearcoat_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 clearcoat_normal = clearcoat_normal_data.normal; + + + float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; + float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); + float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) + : flattened_clearcoat_normal; + + + // ORM Handling // + + float3 ORM_lookup = tex::lookup_float3( + tex: ORM_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + + float3 roughness_lookup = tex::lookup_float3( + tex: reflectionroughness_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; + float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); + float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), + math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); + + float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), + math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); + + // Diffuse Color Lookup and AO // + + base::texture_return base_lookup = base::file_texture( + texture: diffuse_texture, + color_offset: color(albedo_add), + color_scale: color(albedo_brightness), + mono_source: base::mono_luminance, + uvw: transformed_uvw, + clip: false + ); + + base::texture_return ao_lookup = base::file_texture( + texture: ao_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ); + + + color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; + color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); + color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; + color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; + + color base_color = multiply_colors( + color_1: tinted_diffuse, + color_2: ao_color, + weight: ao_to_diffuse + ).tint; + + + // Metalness // + + float3 metallic_lookup = tex::lookup_float3( + tex: metallic_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; + float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); + + + // Emission // + + color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? + base::file_texture( + texture: emissive_color_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : emissive_color; + + color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? + base::file_texture( + texture: emissive_mask_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : color(1.0); + + color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); + + // Opacity // + + float opacity_value = enable_opacity_texture ? base::file_texture( + texture: opacity_texture, + mono_source: opacity_mode, + uvw: transformed_uvw + ).mono : opacity_constant; + + float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; + + material base = OmniPBRBase::OmniPBRBase( + diffuse_reflection_color: base_color, + specular_reflection_aniso_roughness: reflection_roughness, + specular_level: specular_level, + metalness: metallic, + enable_emission: enable_emission, + emission_color: final_emission_color, + emission_intensity: emissive_intensity, + enable_coat: enable_clearcoat, + coat_weight: clearcoat_weight, + coat_color: clearcoat_tint, + coat_transparency: clearcoat_transparency, + coat_aniso_roughness: clearcoat_reflection_roughness2, + coat_ior: clearcoat_ior, + enable_opacity: enable_opacity, + geometry_opacity: cutout_opacity, + clearcoat_geometry_normal: final_clearcoat_normal, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials, + geometry_normal: diffuse_gloss_normal + ); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/psyonic_ability_hand_right_small/materials/mdl/aux_definitions.mdl b/psyonic_ability_hand_right_small/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/psyonic_ability_hand_right_small/materials/mdl/aux_definitions.mdl @@ -0,0 +1,3464 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +mdl 1.4; + +import ::anno::*; +export using ::base import texture_return; + +module +[[ + anno::version( 1, 2, 0), + anno::hidden(), + anno::display_name("NVIDIA auxillary definitions") +]]; + +// Support functions to simplify conversions between vector types with swizzles +// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) +// Supported return types: float, float2, float3 color + + +export annotation icon(string path); + + +//*********************************************************************************************************************** +// Constructor wrappers + +export float construct_float( + texture_return a [[ + anno::description("Input texture sample container; the mono channel is returned.") + ]]) +[[ + anno::display_name("Float from texture_return"), + anno::description("Constructs a float from the mono channel of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float"), + icon(".icons/constructor.svg"), + anno::ui_order(10000) +]] +{ return a.mono; } + +export color construct_color( + float a [[ + anno::description("Scalar value replicated into all color channels.") + ]]) +[[ + anno::display_name("Color from float"), + anno::description("Constructs a color from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10001) +]] +{ return color(a); } + +export color construct_color( + float3 a [[ + anno::description("RGB source components.") + ]]) +[[ + anno::display_name("Color from float3"), + anno::description("Constructs a color from a float3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10002) +]] +{ return color(a); } + +export color construct_color( + float r [[ + anno::description("Red channel value.") + ]], + float g [[ + anno::description("Green channel value.") + ]], + float b [[ + anno::description("Blue channel value.") + ]]) +[[ + anno::display_name("Color from floats"), + anno::description("Constructs a color from explicit red, green, and blue components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10003) +]] +{ return color(r,g,b); } + +export color construct_color( + texture_return a [[ + anno::description("Input texture sample container; the tint (RGB) channels are returned.") + ]]) +[[ + anno::display_name("Color from texture_return"), + anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10004) +]] +{ return a.tint; } + +export float4 construct_float4( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from floats"), + anno::description("Constructs a float4 from explicit x, y, z, and w components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10005) +]] +{ return float4(x,y,z,w); } + +export float4 construct_float4( + float3 xyz [[ + anno::description("Source xyz components.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from float3,float"), + anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10006) +]] +{ return float4(xyz.x,xyz.y,xyz.z,w); } + +export float3 construct_float3( + color a [[ + anno::description("Input color whose RGB channels are converted to float3.") + ]]) +[[ + anno::display_name("Float3 from color"), + anno::description("Constructs a float3 from a color value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10007) +]] +{ return float3(a); } + +export float3 construct_float3( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]]) +[[ + anno::display_name("Float3 from floats"), + anno::description("Constructs a float3 from explicit x, y, and z components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10008) +]] +{ return float3(x,y,z); } + +export float3 construct_float3( + int3 a [[ + anno::description("Input int3 converted component-wise to float3.") + ]]) +[[ + anno::display_name("Float3 from int3"), + anno::description("Constructs a float3 from an int3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10009) +]] +{ return float3(a); } + +export float2 construct_float2( + float a [[ + anno::description("Scalar value replicated into both components.") + ]]) +[[ + anno::display_name("Float2 from float"), + anno::description("Constructs a float2 from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10010) +]] +{ return float2(a); } + +export float2 construct_float2( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]]) +[[ + anno::display_name("Float2 from floats"), + anno::description("Constructs a float2 from explicit x and y components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10011) +]] +{ return float2(x,y); } + +export float2 construct_float2( + int2 a [[ + anno::description("Input int2 converted component-wise to float2.") + ]]) +[[ + anno::display_name("Float2 from int2"), + anno::description("Constructs a float2 from an int2 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10012) +]] +{ return float2(a); } + +export int3 construct_int3( + int a [[ + anno::description("Scalar value replicated into all int3 components.") + ]]) +[[ + anno::display_name("Int3 from int"), + anno::description("Constructs an int3 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int3"), + icon(".icons/constructor.svg"), + anno::ui_order(10013) +]] +{ return int3(a); } + +export int2 construct_int2( + int a [[ + anno::description("Scalar value replicated into both int2 components.") + ]]) +[[ + anno::display_name("Int2 from int"), + anno::description("Constructs an int2 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int2"), + icon(".icons/constructor.svg"), + anno::ui_order(10014) +]] +{ return int2(a); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float return type + +export float x( float2 a) +[[ + anno::display_name("X from float2"), + anno::description("Returns x from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11000) +]] +{ return a.x; } + +export float y( float2 a) +[[ + anno::display_name("Y from float2"), + anno::description("Returns y from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11010) +]] +{ return a.y; } + +export float x( float3 a) +[[ + anno::display_name("X from float3"), + anno::description("Returns x from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11001) +]] +{ return a.x; } + +export float y( float3 a) +[[ + anno::display_name("Y from float3"), + anno::description("Returns y from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11011) +]] +{ return a.y; } + +export float z( float3 a) +[[ + anno::display_name("Z from float3"), + anno::description("Returns z from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11020) +]] +{ return a.z; } + +export float x( float4 a) +[[ + anno::display_name("X from float4"), + anno::description("Returns x from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11002) +]] +{ return a.x; } + +export float y( float4 a) +[[ + anno::display_name("Y from float4"), + anno::description("Returns y from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11012) +]] +{ return a.y; } + +export float z( float4 a) +[[ + anno::display_name("Z from float4"), + anno::description("Returns z from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return a.z; } + +export float w( float4 a) +[[ + anno::display_name("W from float4"), + anno::description("Returns w from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11025) +]] +{ return a.w; } + +export float x( color a) +[[ + anno::display_name("R from color"), + anno::description("Returns r from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11003) +]] +{ return x( float3(a)); } + +export float y( color a) +[[ + anno::display_name("G from color"), + anno::description("Returns g from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11013) +]] +{ return y( float3(a)); } + +export float z( color a) +[[ + anno::display_name("B from color"), + anno::description("Returns b from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return z( float3(a)); } + +export float x( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("R from texture_return"), + anno::description("Returns r from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11004) +]] +{ return float3( a.tint).x; } + +export float y( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("G from texture_return"), + anno::description("Returns g from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11014) +]] +{ return float3( a.tint).y; } + +export float z( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("B from texture_return"), + anno::description("Returns b from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11022) +]] +{ return float3( a.tint).z; } + +export float w( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("Mono from texture_return"), + anno::description("Returns mono/alpha from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11026) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Conversions of texture_return +// All are hidden +export float4 texture_return_float4( + texture_return a [[ + anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") + ]]) +[[ + anno::display_name("float4 from texture_return"), + anno::description("Converts texture_return to float4 using tint RGB and mono as W."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float4"), + icon(".icons/component_extract.svg"), + anno::ui_order(10108) +]] +{ return float4(x(a),y(a),z(a),w(a)); } + +export float3 texture_return_float3( + texture_return a [[ + anno::description("Input texture sample container to unpack as float3 (r, g, b).") + ]]) +[[ + anno::display_name("float3 from texture_return"), + anno::description("Converts texture_return to float3 using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + icon(".icons/component_extract.svg"), + anno::ui_order(10109) +]] +{ return float3(x(a),y(a),z(a)); } + +export color texture_return_color( + texture_return a [[ + anno::description("Input texture sample container; tint RGB is returned as color.") + ]]) +[[ + anno::display_name("color from texture_return"), + anno::description("Converts texture_return to color using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Color"), + icon(".icons/component_extract.svg"), + anno::ui_order(10110) +]] +{ return a.tint; } + +export float texture_return_float( + texture_return a [[ + anno::description("Input texture sample container; mono channel is returned.") + ]]) +[[ + anno::display_name("float from texture_return"), + anno::description("Converts texture_return to float using the mono channel."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float"), + icon(".icons/component_extract.svg"), + anno::ui_order(10111) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float2 return type + +export float2 xy( float2 a) +[[ + anno::display_name("XY from float2"), + anno::description("Returns float2(x,y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11040) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float3 a) +[[ + anno::display_name("XY from float3"), + anno::description("Returns float2(x,y) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11041) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float4 a) +[[ + anno::display_name("XY from float4"), + anno::description("Returns float2(x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return float2( a.x, a.y); } + +export float2 xy( color a) +[[ + anno::display_name("XY from color"), + anno::description("Returns float2(x,y) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return xy( float3(a)); } + +export float2 xy( + texture_return a [[ + anno::description("Input texture sample container; returns the first two tint channels.") + ]]) +[[ + anno::display_name("XY from texture_return"), + anno::description("Returns float2(r, g) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return xy(texture_return_float4(a)); } + + +// The remaining are hidden +export float2 xx( float2 a) +[[ + anno::display_name("XX from float2"), + anno::description("Returns float2(x,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11030) +]] +{ return float2( a.x, a.x); } + +export float2 yx( float2 a) +[[ + anno::display_name("YX from float2"), + anno::description("Returns float2(y,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11050) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float2 a) +[[ + anno::display_name("YY from float2"), + anno::description("Returns float2(y,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11060) +]] +{ return float2( a.y, a.y); } + +export float2 xx( float3 a) +[[ + anno::display_name("XX from float3"), + anno::description("Returns float2(x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11031) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float3 a) +[[ + anno::display_name("XZ from float3"), + anno::description("Returns float2(x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11042) +]] +{ return float2( a.x, a.z); } + +export float2 yz( float3 a) +[[ + anno::display_name("YZ from float3"), + anno::description("Returns float2(y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return float2( a.y, a.z); } + +export float2 yx( float3 a) +[[ + anno::display_name("YX from float3"), + anno::description("Returns float2(y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11051) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float3 a) +[[ + anno::display_name("YY from float3"), + anno::description("Returns float2(y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11061) +]] +{ return float2( a.y, a.y); } + +export float2 zx( float3 a) +[[ + anno::display_name("ZX from float3"), + anno::description("Returns float2(z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11090) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float3 a) +[[ + anno::display_name("ZY from float3"), + anno::description("Returns float2(z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11100) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float3 a) +[[ + anno::display_name("ZZ from float3"), + anno::description("Returns float2(z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11110) +]] +{ return float2( a.z, a.z); } + +export float2 xx( float4 a) +[[ + anno::display_name("XX from float4"), + anno::description("Returns float2(x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11032) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float4 a) +[[ + anno::display_name("XZ from float4"), + anno::description("Returns float2(x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11071) +]] +{ return float2( a.x, a.z); } + +export float2 xw( float4 a) +[[ + anno::display_name("XW from float4"), + anno::description("Returns float2(x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11120) +]] +{ return float2( a.x, a.w); } + +export float2 yx( float4 a) +[[ + anno::display_name("YX from float4"), + anno::description("Returns float2(y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11052) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float4 a) +[[ + anno::display_name("YY from float4"), + anno::description("Returns float2(y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11062) +]] +{ return float2( a.y, a.y); } + +export float2 yz( float4 a) +[[ + anno::display_name("YZ from float4"), + anno::description("Returns float2(y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11081) +]] +{ return float2( a.y, a.z); } + +export float2 yw( float4 a) +[[ + anno::display_name("YW from float4"), + anno::description("Returns float2(y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11125) +]] +{ return float2( a.y, a.w); } + +export float2 zx( float4 a) +[[ + anno::display_name("ZX from float4"), + anno::description("Returns float2(z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11091) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float4 a) +[[ + anno::display_name("ZY from float4"), + anno::description("Returns float2(z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11101) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float4 a) +[[ + anno::display_name("ZZ from float4"), + anno::description("Returns float2(z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11111) +]] +{ return float2( a.z, a.z); } + +export float2 zw( float4 a) +[[ + anno::display_name("ZW from float4"), + anno::description("Returns float2(z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11127) +]] +{ return float2( a.z, a.w); } + +export float2 wx( float4 a) +[[ + anno::display_name("WX from float4"), + anno::description("Returns float2(w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11129) +]] +{ return float2( a.w, a.x); } + +export float2 wy( float4 a) +[[ + anno::display_name("WX from loat4"), + anno::description("Returns float2(w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11131) +]] +{ return float2( a.w, a.y); } + +export float2 wz( float4 a) +[[ + anno::display_name("WZ from float4"), + anno::description("Returns float2(w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11133) +]] +{ return float2( a.w, a.z); } + +export float2 ww( float4 a) +[[ + anno::display_name("WW from float4"), + anno::description("Returns float2(w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11135) +]] +{ return float2( a.w, a.w); } + +export float2 xx( color a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11033) +]] +{ return xx( float3(a)); } + +export float2 xz( color a) +[[ + anno::display_name("XZ from color"), + anno::description("Returns float2(x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11072) +]] +{ return xz( float3(a)); } + +export float2 yx( color a) +[[ + anno::display_name("YX from color"), + anno::description("Returns float2(y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11053) +]] +{ return yx( float3(a)); } + +export float2 yy( color a) +[[ + anno::display_name("YY from color"), + anno::description("Returns float2(y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11063) +]] +{ return yy( float3(a)); } + +export float2 yz( color a) +[[ + anno::display_name("YZ from color"), + anno::description("Returns float2(y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11082) +]] +{ return yz( float3(a)); } + +export float2 zx( color a) +[[ + anno::display_name("ZX from color"), + anno::description("Returns float2(z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11092) +]] +{ return zx( float3(a)); } + +export float2 zy( color a) +[[ + anno::display_name("ZY from color"), + anno::description("Returns float2(z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11102) +]] +{ return zy( float3(a)); } + +export float2 zz( color a) +[[ + anno::display_name("ZZ from color"), + anno::description("Returns float2(z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11112) +]] +{ return zz( float3(a)); } + +export float2 xx( texture_return a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11034) +]] +{ return xx(texture_return_float4(a)); } + +export float2 xz( texture_return a) +[[ + anno::display_name("XZ from texture_return"), + anno::description("Returns float2(x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11073) +]] +{ return xz(texture_return_float4(a)); } + +export float2 xw( texture_return a) +[[ + anno::display_name("XW from texture_return"), + anno::description("Returns float2(x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11121) +]] +{ return xw(texture_return_float4(a)); } + +export float2 yx( texture_return a) +[[ + anno::display_name("YX from texture_return"), + anno::description("Returns float2(y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11054) +]] +{ return yx(texture_return_float4(a)); } + +export float2 yy( texture_return a) +[[ + anno::display_name("YY from texture_return"), + anno::description("Returns float2(y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11064) +]] +{ return yy(texture_return_float4(a)); } + +export float2 yz( texture_return a) +[[ + anno::display_name("YZ from texture_return"), + anno::description("Returns float2(y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11083) +]] +{ return yz(texture_return_float4(a)); } + +export float2 yw( texture_return a) +[[ + anno::display_name("YW from texture_return"), + anno::description("Returns float2(y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11126) +]] +{ return yw(texture_return_float4(a)); } + +export float2 zx( texture_return a) +[[ + anno::display_name("ZX from texture_return"), + anno::description("Returns float2(z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11093) +]] +{ return zx(texture_return_float4(a)); } + +export float2 zy( texture_return a) +[[ + anno::display_name("ZY from texture_return"), + anno::description("Returns float2(z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11103) +]] +{ return zy(texture_return_float4(a)); } + +export float2 zz( texture_return a) +[[ + anno::display_name("ZZ from texture_return"), + anno::description("Returns float2(z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11113) +]] +{ return zz(texture_return_float4(a)); } + +export float2 zw( texture_return a) +[[ + anno::display_name("ZW from texture_return"), + anno::description("Returns float2(z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11128) +]] +{ return zw(texture_return_float4(a)); } + +export float2 wx( texture_return a) +[[ + anno::display_name("WX from texture_return.WX"), + anno::description("Returns float2(w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11130) +]] +{ return wx(texture_return_float4(a)); } + +export float2 wy( texture_return a) +[[ + anno::display_name("WY from texture_return"), + anno::description("Returns float2(w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11132) +]] +{ return wy(texture_return_float4(a)); } + +export float2 wz( texture_return a) +[[ + anno::display_name("WZ from texture_return"), + anno::description("Returns float2(w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11134) +]] +{ return wz(texture_return_float4(a)); } + +export float2 ww( texture_return a) +[[ + anno::display_name("WW from texture_return"), + anno::description("Returns float2(w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11136) +]] +{ return ww(texture_return_float4(a)); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float3 return type + +export float3 xyz( float3 a) +[[ + anno::display_name("XYZ from float3"), + anno::description("Returns float3(x,y,z) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11290) +]] +{ return float3( a.x, a.y, a.z); } + +export float3 xyz( float4 a) +[[ + anno::display_name("XYZ from float4"), + anno::description("Returns float3(x,y,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11291) +]] +{ return float3( a.x, a.y, a.z); } + + +// The remaining are hidden +export float3 yyw( float4 a) +[[ + anno::display_name("YYW from float4"), + anno::description("Returns float3(y,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11640) +]] +{ return float3( a.y, a.y, a.w); } + +export float3 xxx( float2 a) +[[ + anno::display_name("XXX from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11200) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float2 a) +[[ + anno::display_name("XXY from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11210) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xyx( float2 a) +[[ + anno::display_name("XYX from float2"), + anno::description("Returns float3(x,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11230) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float2 a) +[[ + anno::display_name("XYY from float2"), + anno::description("Returns float3(x,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11240) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 yxx( float2 a) +[[ + anno::display_name("YXX from float2"), + anno::description("Returns float3(y,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11250) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float2 a) +[[ + anno::display_name("YXY from float2"), + anno::description("Returns float3(y,x,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11260) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yyx( float2 a) +[[ + anno::display_name("YYX from float2"), + anno::description("Returns float3(y,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11270) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float2 a) +[[ + anno::display_name("YYY from float2"), + anno::description("Returns float3(y,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11280) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 xxx( float3 a) +[[ + anno::display_name("XXX from float3"), + anno::description("Returns float3(x,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11201) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float3 a) +[[ + anno::display_name("XXY from float3"), + anno::description("Returns float3(x,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11211) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float3 a) +[[ + anno::display_name("XXZ from float3"), + anno::description("Returns float3(x,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11220) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xyx( float3 a) +[[ + anno::display_name("XYX from float3"), + anno::description("Returns float3(x,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11231) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float3 a) +[[ + anno::display_name("XYY from float3"), + anno::description("Returns float3(x,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11241) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xzx( float3 a) +[[ + anno::display_name("XZX from float3"), + anno::description("Returns float3(x,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11300) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float3 a) +[[ + anno::display_name("XZY from float3"), + anno::description("Returns float3(x,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11310) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float3 a) +[[ + anno::display_name("XZZ from float3"), + anno::description("Returns float3(x,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11320) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 yxx( float3 a) +[[ + anno::display_name("YXX from float3"), + anno::description("Returns float3(y,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11251) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float3 a) +[[ + anno::display_name("YXY from float3"), + anno::description("Returns float3(y,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11261) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float3 a) +[[ + anno::display_name("YXZ from float3"), + anno::description("Returns float3(y,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11330) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yyx( float3 a) +[[ + anno::display_name("YYX from float3"), + anno::description("Returns float3(y,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11271) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float3 a) +[[ + anno::display_name("YYY from float3"), + anno::description("Returns float3(y,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11281) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float3 a) +[[ + anno::display_name("YYZ from float3"), + anno::description("Returns float3(y,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11340) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float3 a) +[[ + anno::display_name("YZX from float3"), + anno::description("Returns float3(y,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11350) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float3 a) +[[ + anno::display_name("YZY from float3.YZY"), + anno::description("Returns float3(y,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11360) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float3 a) +[[ + anno::display_name("YZZ from float3"), + anno::description("Returns float3(y,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11370) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 zxx( float3 a) +[[ + anno::display_name("ZXX from float3"), + anno::description("Returns float3(z,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11380) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float3 a) +[[ + anno::display_name("float3.ZXY"), + anno::description("Returns float3(z,x,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11390) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float3 a) +[[ + anno::display_name("ZXZ from float3"), + anno::description("Returns float3(z,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11400) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zyx( float3 a) +[[ + anno::display_name("ZYX from float3"), + anno::description("Returns float3(z,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11410) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float3 a) +[[ + anno::display_name("ZYY from float3"), + anno::description("Returns float3(z,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11420) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float3 a) +[[ + anno::display_name("ZYZ from float3"), + anno::description("Returns float3(z,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11430) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zzx( float3 a) +[[ + anno::display_name("ZZX from float3"), + anno::description("Returns float3(z,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11440) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float3 a) +[[ + anno::display_name("ZZY from float3"), + anno::description("Returns float3(z,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11450) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float3 a) +[[ + anno::display_name("ZZZ from float3"), + anno::description("Returns float3(z,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11460) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 xxx( float4 a) +[[ + anno::display_name("XXX from float4"), + anno::description("Returns float3(x,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11202) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float4 a) +[[ + anno::display_name("XXY from float4"), + anno::description("Returns float3(x,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11212) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float4 a) +[[ + anno::display_name("XXZ from float4"), + anno::description("Returns float3(x,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11222) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xxw( float4 a) +[[ + anno::display_name("XXW from float4"), + anno::description("Returns float3(x,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11227) +]] +{ return float3( a.x, a.x, a.w); } + +export float3 xyx( float4 a) +[[ + anno::display_name("XYX from float4"), + anno::description("Returns float3(x,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11232) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float4 a) +[[ + anno::display_name("XYY from float4"), + anno::description("Returns float3(x,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11242) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xyw( float4 a) +[[ + anno::display_name("XYW from float4"), + anno::description("Returns float3(x,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11295) +]] +{ return float3( a.x, a.y, a.w); } + +export float3 xzx( float4 a) +[[ + anno::display_name("XZX from float4"), + anno::description("Returns float3(x,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11301) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float4 a) +[[ + anno::display_name("XZY from float4"), + anno::description("Returns float3(x,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11311) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float4 a) +[[ + anno::display_name("XZZ from float4"), + anno::description("Returns float3(x,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 xzw( float4 a) +[[ + anno::display_name("XZW from float4"), + anno::description("Returns float3(x,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11600) +]] +{ return float3( a.x, a.z, a.w); } + +export float3 xwx( float4 a) +[[ + anno::display_name("XWX from float4"), + anno::description("Returns float3(x,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11604) +]] +{ return float3( a.x, a.w, a.x); } + +export float3 xwy( float4 a) +[[ + anno::display_name("XWY from float4"), + anno::description("Returns float3(x,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11608) +]] +{ return float3( a.x, a.w, a.y); } + +export float3 xwz( float4 a) +[[ + anno::display_name("XWZ from float4"), + anno::description("Returns float3(x,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11612) +]] +{ return float3( a.x, a.w, a.z); } + +export float3 xww( float4 a) +[[ + anno::display_name("XWW from float4"), + anno::description("Returns float3(x,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11616) +]] +{ return float3( a.x, a.w, a.w); } + +export float3 yxx( float4 a) +[[ + anno::display_name("YXX from float4"), + anno::description("Returns float3(y,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11252) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float4 a) +[[ + anno::display_name("YXY from float4"), + anno::hidden(), + anno::description("Returns float3(y,x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11262) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float4 a) +[[ + anno::display_name("YXZ from float4"), + anno::description("Returns float3(y,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11331) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yxw( float4 a) +[[ + anno::display_name("YXW from float4"), + anno::description("Returns float3(y,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11630) +]] +{ return float3( a.y, a.x, a.w); } + +export float3 yyx( float4 a) +[[ + anno::display_name("YYX from float4"), + anno::description("Returns float3(y,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11272) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float4 a) +[[ + anno::display_name("YYY from float4"), + anno::description("Returns float3(y,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11282) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float4 a) +[[ + anno::display_name("YYZ from float4"), + anno::description("Returns float3(y,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11341) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float4 a) +[[ + anno::display_name("YZX from float4"), + anno::description("Returns float3(y,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11351) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float4 a) +[[ + anno::display_name("YZY from float4"), + anno::description("Returns float3(y,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11361) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float4 a) +[[ + anno::display_name("YZZ from float4"), + anno::description("Returns float3(y,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11371) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 yzw( float4 a) +[[ + anno::display_name("YZW from float4"), + anno::description("Returns float3(y,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11650) +]] +{ return float3( a.y, a.z, a.w); } + +export float3 ywx( float4 a) +[[ + anno::display_name("YWX from float4"), + anno::description("Returns float3(y,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11653) +]] +{ return float3( a.y, a.w, a.x); } + +export float3 ywy( float4 a) +[[ + anno::display_name("YWY from float4"), + anno::description("Returns float3(y,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11656) +]] +{ return float3( a.y, a.w, a.y); } + +export float3 ywz( float4 a) +[[ + anno::display_name("YWZ from float4"), + anno::description("Returns float3(y,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11658) +]] +{ return float3( a.y, a.w, a.z); } + +export float3 yww( float4 a) +[[ + anno::display_name("YWW from float4"), + anno::description("Returns float3(y,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11661) +]] +{ return float3( a.y, a.w, a.w); } + +export float3 zxx( float4 a) +[[ + anno::display_name("ZXX from float4"), + anno::description("Returns float3(z,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11381) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float4 a) +[[ + anno::display_name("ZXY from float4"), + anno::description("Returns float3(z,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11391) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float4 a) +[[ + anno::display_name("ZXZ from float4"), + anno::description("Returns float3(z,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11401) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zxw( float4 a) +[[ + anno::display_name("ZXW from float4"), + anno::description("Returns float3(z,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11671) +]] +{ return float3( a.z, a.x, a.w); } + +export float3 zyx( float4 a) +[[ + anno::display_name("ZYX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11411) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float4 a) +[[ + anno::display_name("ZYY from float4"), + anno::description("Returns float3(z,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11421) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float4 a) +[[ + anno::display_name("ZYZ from float4"), + anno::description("Returns float3(z,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11431) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zyw( float4 a) +[[ + anno::display_name("ZYW from float4"), + anno::description("Returns float3(z,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return float3( a.z, a.y, a.w); } + +export float3 zzx( float4 a) +[[ + anno::display_name("ZZX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11441) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float4 a) +[[ + anno::display_name("ZZY from float4"), + anno::description("Returns float3(z,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11451) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float4 a) +[[ + anno::display_name("ZZZ from float4"), + anno::hidden(), + anno::description("Returns float3(z,z,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11461) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 zzw( float4 a) +[[ + anno::display_name("ZZW from float4"), + anno::description("Returns float3(z,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11465) +]] +{ return float3( a.z, a.z, a.w); } + +export float3 zwx( float4 a) +[[ + anno::display_name("ZWX from float4"), + anno::description("Returns float3(z,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return float3( a.z, a.w, a.x); } + +export float3 zwy( float4 a) +[[ + anno::display_name("ZWY from float4"), + anno::description("Returns float3(z,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11471) +]] +{ return float3( a.z, a.w, a.y); } + +export float3 zwz( float4 a) +[[ + anno::display_name("ZWZ from float4"), + anno::description("Returns float3(z,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11475) +]] +{ return float3( a.z, a.w, a.z); } + +export float3 zww( float4 a) +[[ + anno::display_name("ZWW from float4"), + anno::description("Returns float3(z,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11479) +]] +{ return float3( a.z, a.w, a.w); } + +export float3 wxx( float4 a) +[[ + anno::display_name("WXX from float4"), + anno::description("Returns float3(w,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11483) +]] +{ return float3( a.w, a.x, a.x); } + +export float3 wxy( float4 a) +[[ + anno::display_name("WXY from float4"), + anno::description("Returns float3(w,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11487) +]] +{ return float3( a.w, a.x, a.y); } + +export float3 wxz( float4 a) +[[ + anno::display_name("WXZ from float4"), + anno::description("Returns float3(w,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11490) +]] +{ return float3( a.w, a.x, a.z); } + +export float3 wxw( float4 a) +[[ + anno::display_name("WXW from float4"), + anno::description("Returns float3(w,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11496) +]] +{ return float3( a.w, a.x, a.w); } + +export float3 wyx( float4 a) +[[ + anno::display_name("WYX from float4"), + anno::description("Returns float3(w,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11503) +]] +{ return float3( a.w, a.y, a.x); } + +export float3 wyy( float4 a) +[[ + anno::display_name("WYY from float4"), + anno::description("Returns float3(w,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11507) +]] +{ return float3( a.w, a.y, a.y); } + +export float3 wyz( float4 a) +[[ + anno::display_name("WYZ from float4"), + anno::description("Returns float3(w,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11510) +]] +{ return float3( a.w, a.y, a.z); } + +export float3 wyw( float4 a) +[[ + anno::display_name("WYW from float4"), + anno::description("Returns float3(w,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11514) +]] +{ return float3( a.w, a.y, a.w); } + +export float3 wzx( float4 a) +[[ + anno::display_name("WZX from float4"), + anno::description("Returns float3(w,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11518) +]] +{ return float3( a.w, a.z, a.x); } + +export float3 wzy( float4 a) +[[ + anno::display_name("WZY from float4"), + anno::description("Returns float3(w,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11521) +]] +{ return float3( a.w, a.z, a.y); } + +export float3 wzz( float4 a) +[[ + anno::display_name("WZZ from float4"), + anno::description("Returns float3(w,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11524) +]] +{ return float3( a.w, a.z, a.z); } + +export float3 wzw( float4 a) +[[ + anno::display_name("WZW from float4"), + anno::description("Returns float3(w,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11529) +]] +{ return float3( a.w, a.z, a.w); } + +export float3 wwx( float4 a) +[[ + anno::display_name("WWX from float4"), + anno::description("Returns float3(w,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return float3( a.w, a.w, a.x); } + +export float3 wwy( float4 a) +[[ + anno::display_name("WWY from float4"), + anno::hidden(), + anno::description("Returns float3(w,w,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11537) +]] +{ return float3( a.w, a.w, a.y); } + +export float3 wwz( float4 a) +[[ + anno::display_name("WWZ from float4"), + anno::description("Returns float3(w,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return float3( a.w, a.w, a.z); } + +export float3 www( float4 a) +[[ + anno::display_name("WWW from float4"), + anno::description("Returns float3(w,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11544) +]] +{ return float3( a.w, a.w, a.w); } + +export float3 xxx( color a) +[[ + anno::display_name("XXX from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11203) +]] +{ return xxx( float3(a)); } + +export float3 xxy( color a) +[[ + anno::display_name("XXY from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11213) +]] +{ return xxy( float3(a)); } + +export float3 xxz( color a) +[[ + anno::display_name("XXZ from color"), + anno::description("Returns float3(x,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11223) +]] +{ return xxz( float3(a)); } + +export float3 xyx( color a) +[[ + anno::display_name("XYX from color"), + anno::description("Returns float3(x,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11233) +]] +{ return xyx( float3(a)); } + +export float3 xyy( color a) +[[ + anno::display_name("XYY from color"), + anno::description("Returns float3(x,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11243) +]] +{ return xyy( float3(a)); } + +export float3 xyz( color a) +[[ + anno::display_name("XYZ from color"), + anno::description("Returns float3(x,y,z) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11292) +]] +{ return xyz( float3(a)); } + +export float3 xzx( color a) +[[ + anno::display_name("XZX from color"), + anno::description("Returns float3(x,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11302) +]] +{ return xzx( float3(a)); } + +export float3 xzy( color a) +[[ + anno::display_name("XZY from color"), + anno::description("Returns float3(x,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11312) +]] +{ return xzy( float3(a)); } + +export float3 xzz( color a) +[[ + anno::display_name("XZZ from color"), + anno::description("Returns float3(x,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11323) +]] +{ return xzz( float3(a)); } + +export float3 yxx( color a) +[[ + anno::display_name("YXX from color"), + anno::description("Returns float3(y,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11253) +]] +{ return yxx( float3(a)); } + +export float3 yxy( color a) +[[ + anno::display_name("YXY from color"), + anno::description("Returns float3(y,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11263) +]] +{ return yxy( float3(a)); } + +export float3 yxz( color a) +[[ + anno::display_name("YXZ from color"), + anno::description("Returns float3(y,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11332) +]] +{ return yxz( float3(a)); } + +export float3 yyx( color a) +[[ + anno::display_name("YYX from color"), + anno::description("Returns float3(y,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11273) +]] +{ return yyx( float3(a)); } + +export float3 yyy( color a) +[[ + anno::display_name("YYY from color"), + anno::description("Returns float3(y,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11283) +]] +{ return yyy( float3(a)); } + +export float3 yyz( color a) +[[ + anno::display_name("YYZ from color"), + anno::description("Returns float3(y,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11342) +]] +{ return yyz( float3(a)); } + +export float3 yzx( color a) +[[ + anno::display_name("YZX from color"), + anno::description("Returns float3(y,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11352) +]] +{ return yzx( float3(a)); } + +export float3 yzy( color a) +[[ + anno::display_name("YZY from color"), + anno::description("Returns float3(y,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11362) +]] +{ return yzy( float3(a)); } + +export float3 yzz( color a) +[[ + anno::display_name("YZZ from color"), + anno::description("Returns float3(y,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11372) +]] +{ return yzz( float3(a)); } + +export float3 zxx( color a) +[[ + anno::display_name("ZXX from color"), + anno::description("Returns float3(z,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11382) +]] +{ return zxx( float3(a)); } + +export float3 zxy( color a) +[[ + anno::display_name("ZXY from color"), + anno::description("Returns float3(z,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11392) +]] +{ return zxy( float3(a)); } + +export float3 zxz( color a) +[[ + anno::display_name("ZXZ from color"), + anno::description("Returns float3(z,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11402) +]] +{ return zxz( float3(a)); } + +export float3 zyx( color a) +[[ + anno::display_name("ZYX from color"), + anno::description("Returns float3(z,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11412) +]] +{ return zyx( float3(a)); } + +export float3 zyy( color a) +[[ + anno::display_name("ZYY from color"), + anno::description("Returns float3(z,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11422) +]] +{ return zyy( float3(a)); } + +export float3 zyz( color a) +[[ + anno::display_name("ZYZ from color"), + anno::description("Returns float3(z,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return zyz( float3(a)); } + +export float3 zzx( color a) +[[ + anno::display_name("ZZX from color"), + anno::description("Returns float3(z,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11442) +]] +{ return zzx( float3(a)); } + +export float3 zzy( color a) +[[ + anno::display_name("ZZY from color"), + anno::description("Returns float3(z,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11452) +]] +{ return zzy( float3(a)); } + +export float3 zzz( color a) +[[ + anno::display_name("ZZZ from color"), + anno::description("Returns float3(z,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11462) +]] +{ return zzz( float3(a)); } + +export float3 xxx( texture_return a) +[[ + anno::display_name("XXX from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11204) +]] +{ return xxx(texture_return_float4(a)); } + +export float3 xxy( texture_return a) +[[ + anno::display_name("XXY from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11214) +]] +{ return xxy(texture_return_float4(a)); } + +export float3 xxz( texture_return a) +[[ + anno::display_name("XXZ from texture_return"), + anno::description("Returns float3(x,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11224) +]] +{ return xxz(texture_return_float4(a)); } + +export float3 xxw( texture_return a) +[[ + anno::display_name("XXW from texture_return"), + anno::description("Returns float3(x,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11229) +]] +{ return xxw(texture_return_float4(a)); } + +export float3 xyx( texture_return a) +[[ + anno::display_name("XYX from texture_return"), + anno::description("Returns float3(x,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11234) +]] +{ return xyx(texture_return_float4(a)); } + +export float3 xyy( texture_return a) +[[ + anno::display_name("XYY from texture_return"), + anno::description("Returns float3(x,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11244) +]] +{ return xyy(texture_return_float4(a)); } + +export float3 xyz( texture_return a) +[[ + anno::display_name("XYZ from texture_return"), + anno::description("Returns float3(x,y,z) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11293) +]] +{ return xyz(texture_return_float4(a)); } + +export float3 xyw( texture_return a) +[[ + anno::display_name("XYW from texture_return"), + anno::description("Returns float3(x,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11296) +]] +{ return xyw(texture_return_float4(a)); } + +export float3 xzx( texture_return a) +[[ + anno::display_name("XZX from texture_return"), + anno::description("Returns float3(x,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11303) +]] +{ return xzx(texture_return_float4(a)); } + +export float3 xzy( texture_return a) +[[ + anno::display_name("XZY from texture_return"), + anno::description("Returns float3(x,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1131) +]] +{ return xzy(texture_return_float4(a)); } + +export float3 xzz( texture_return a) +[[ + anno::display_name("XZZ from texture_return"), + anno::description("Returns float3(x,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return xzz(texture_return_float4(a)); } + +export float3 xzw( texture_return a) +[[ + anno::display_name("XZW from texture_return"), + anno::description("Returns float3(x,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11601) +]] +{ return xzw(texture_return_float4(a)); } + +export float3 xwx( texture_return a) +[[ + anno::display_name("XWX from texture_return"), + anno::description("Returns float3(x,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11605) +]] +{ return xwx(texture_return_float4(a)); } + +export float3 xwy( texture_return a) +[[ + anno::display_name("XWY from texture_return"), + anno::description("Returns float3(x,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11609) +]] +{ return xwy(texture_return_float4(a)); } + +export float3 xwz( texture_return a) +[[ + anno::display_name("XWZ from texture_return"), + anno::description("Returns float3(x,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11613) +]] +{ return xwz(texture_return_float4(a)); } + +export float3 xww( texture_return a) +[[ + anno::display_name("XWW from texture_return"), + anno::description("Returns float3(x,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11617) +]] +{ return xww(texture_return_float4(a)); } + +export float3 yxx( texture_return a) +[[ + anno::display_name("YXX from texture_return"), + anno::description("Returns float3(y,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11254) +]] +{ return yxx(texture_return_float4(a)); } + +export float3 yxy( texture_return a) +[[ + anno::display_name("YXY from texture_return"), + anno::description("Returns float3(y,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11264) +]] +{ return yxy(texture_return_float4(a)); } + +export float3 yxz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11333) +]] +{ return yxz(texture_return_float4(a)); } + +export float3 yxw( texture_return a) +[[ + anno::display_name("YXW from texture_return"), + anno::description("Returns float3(y,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11631) +]] +{ return yxw(texture_return_float4(a)); } + +export float3 yyx( texture_return a) +[[ + anno::display_name("YYX from texture_return"), + anno::description("Returns float3(y,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11274) +]] +{ return yyx(texture_return_float4(a)); } + +export float3 yyy( texture_return a) +[[ + anno::display_name("YYY from texture_return"), + anno::description("Returns float3(y,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11284) +]] +{ return yyy(texture_return_float4(a)); } + +export float3 yyz( texture_return a) +[[ + anno::display_name("YYZ from texture_return"), + anno::description("Returns float3(y,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11344) +]] +{ return yyz(texture_return_float4(a)); } + +export float3 yyw( texture_return a) +[[ + anno::display_name("YYW from texture_return"), + anno::description("Returns float3(y,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11641) +]] +{ return yyw(texture_return_float4(a)); } + +export float3 yzx( texture_return a) +[[ + anno::display_name("YZX from texture_return"), + anno::description("Returns float3(y,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11354) +]] +{ return yzx(texture_return_float4(a)); } + +export float3 yzy( texture_return a) +[[ + anno::display_name("YZY from texture_return"), + anno::description("Returns float3(y,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11363) +]] +{ return yzy(texture_return_float4(a)); } + +export float3 yzz( texture_return a) +[[ + anno::display_name("YZZ from texture_return"), + anno::description("Returns float3(y,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11373) +]] +{ return yzz(texture_return_float4(a)); } + +export float3 yzw( texture_return a) +[[ + anno::display_name("YZW from texture_return"), + anno::description("Returns float3(y,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11651) +]] +{ return yzw(texture_return_float4(a)); } + +export float3 ywx( texture_return a) +[[ + anno::display_name("YWX from texture_return"), + anno::description("Returns float3(y,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11654) +]] +{ return ywx(texture_return_float4(a)); } + +export float3 ywy( texture_return a) +[[ + anno::display_name("YWY from texture_return"), + anno::description("Returns float3(y,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11657) +]] +{ return ywy(texture_return_float4(a)); } + +export float3 ywz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11659) +]] +{ return ywz(texture_return_float4(a)); } + +export float3 yww( texture_return a) +[[ + anno::display_name("YWW from texture_return"), + anno::description("Returns float3(y,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11662) +]] +{ return yww(texture_return_float4(a)); } + +export float3 zxx( texture_return a) +[[ + anno::display_name("ZXX from texture_return"), + anno::description("Returns float3(z,x,x) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11383) +]] +{ return zxx(texture_return_float4(a)); } + +export float3 zxy( texture_return a) +[[ + anno::display_name("ZXY from texture_return"), + anno::description("Returns float3(z,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11394) +]] +{ return zxy(texture_return_float4(a)); } + +export float3 zxz( texture_return a) +[[ + anno::display_name("ZXZ from texture_return"), + anno::description("Returns float3(z,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11403) +]] +{ return zxz(texture_return_float4(a)); } + +export float3 zxw( texture_return a) +[[ + anno::display_name("ZXW from texture_return"), + anno::description("Returns float3(z,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11672) +]] +{ return zxw(texture_return_float4(a)); } + +export float3 zyx( texture_return a) +[[ + anno::display_name("ZYX from texture_return"), + anno::description("Returns float3(z,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11413) +]] +{ return zyx(texture_return_float4(a)); } + +export float3 zyy( texture_return a) +[[ + anno::display_name("ZYY from texture_return"), + anno::description("Returns float3(z,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11423) +]] +{ return zyy(texture_return_float4(a)); } + +export float3 zyz( texture_return a) +[[ + anno::display_name("ZYZ from texture_return"), + anno::description("Returns float3(z,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyz(texture_return_float4(a)); } + +export float3 zyw( texture_return a) +[[ + anno::display_name("ZYW from texture_return"), + anno::description("Returns float3(z,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyw(texture_return_float4(a)); } + +export float3 zzx( texture_return a) +[[ + anno::display_name("ZZX from texture_return"), + anno::description("Returns float3(z,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11443) +]] +{ return zzx(texture_return_float4(a)); } + +export float3 zzy( texture_return a) +[[ + anno::display_name("ZZY from texture_return"), + anno::description("Returns float3(z,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11453) +]] +{ return zzy(texture_return_float4(a)); } + +export float3 zzz( texture_return a) +[[ + anno::display_name("ZZZ from texture_return"), + anno::description("Returns float3(z,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11463) +]] +{ return zzz(texture_return_float4(a)); } + +export float3 zzw( texture_return a) +[[ + anno::display_name("ZZW from texture_return"), + anno::description("Returns float3(z,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11466) +]] +{ return zzw(texture_return_float4(a)); } + +export float3 zwx( texture_return a) +[[ + anno::display_name("ZWX from texture_return"), + anno::description("Returns float3(z,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return zwx(texture_return_float4(a)); } + +export float3 zwy( texture_return a) +[[ + anno::display_name("ZWY from texture_return"), + anno::description("Returns float3(z,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11472) +]] +{ return zwy(texture_return_float4(a)); } + +export float3 zwz( texture_return a) +[[ + anno::display_name("ZWZ from texture_return"), + anno::description("Returns float3(z,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11476) +]] +{ return zwz(texture_return_float4(a)); } + +export float3 zww( texture_return a) +[[ + anno::display_name("texture_return.ZWW"), + anno::description("Returns float3(z,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11480) +]] +{ return zww(texture_return_float4(a)); } + +export float3 wxx( texture_return a) +[[ + anno::display_name("WXX from texture_return"), + anno::description("Returns float3(w,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11484) +]] +{ return wxx(texture_return_float4(a)); } + +export float3 wxy( texture_return a) +[[ + anno::display_name("WXY from texture_return"), + anno::description("Returns float3(w,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11488) +]] +{ return wxy(texture_return_float4(a)); } + +export float3 wxz( texture_return a) +[[ + anno::display_name("WXZ from texture_return"), + anno::description("Returns float3(w,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11493) +]] +{ return wxz(texture_return_float4(a)); } + +export float3 wxw( texture_return a) +[[ + anno::display_name("WXW from texture_return"), + anno::description("Returns float3(w,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11500) +]] +{ return wxw(texture_return_float4(a)); } + +export float3 wyx( texture_return a) +[[ + anno::display_name("WYX from texture_return"), + anno::description("Returns float3(w,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1150) +]] +{ return wyx(texture_return_float4(a)); } + +export float3 wyy( texture_return a) +[[ + anno::display_name("WYY from texture_return"), + anno::description("Returns float3(w,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11508) +]] +{ return wyy(texture_return_float4(a)); } + +export float3 wyz( texture_return a) +[[ + anno::display_name("WYZ from texture_return"), + anno::description("Returns float3(w,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11511) +]] +{ return wyz(texture_return_float4(a)); } + +export float3 wyw( texture_return a) +[[ + anno::display_name("WYW from texture_return"), + anno::description("Returns float3(w,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11515) +]] +{ return wyw(texture_return_float4(a)); } + +export float3 wzx( texture_return a) +[[ + anno::display_name("WZX from texture_return"), + anno::description("Returns float3(w,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11519) +]] +{ return wzx(texture_return_float4(a)); } + +export float3 wzy( texture_return a) +[[ + anno::display_name("WZY from texture_return"), + anno::description("Returns float3(w,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11522) +]] +{ return wzy(texture_return_float4(a)); } + +export float3 wzz( texture_return a) +[[ + anno::display_name("WZZ from texture_return"), + anno::description("Returns float3(w,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11525) +]] +{ return wzz(texture_return_float4(a)); } + +export float3 wzw( texture_return a) +[[ + anno::display_name("WZW from texture_return"), + anno::description("Returns float3(w,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11530) +]] +{ return wzw(texture_return_float4(a)); } + +export float3 wwx( texture_return a) +[[ + anno::display_name("WWWX from texture_return"), + anno::description("Returns float3(w,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return wwx(texture_return_float4(a)); } + +export float3 wwy( texture_return a) +[[ + anno::display_name("WWY from texture_return"), + anno::description("Returns float3(w,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11538) +]] +{ return wwy(texture_return_float4(a)); } + +export float3 wwz( texture_return a) +[[ + anno::display_name("WWZ from texture_return"), + anno::description("Returns float3(w,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return wwz(texture_return_float4(a)); } + +export float3 www( texture_return a) +[[ + anno::display_name("WWW from texture_return"), + anno::description("Returns float3(w,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11545) +]] +{ return www(texture_return_float4(a)); } diff --git a/psyonic_ability_hand_right_small/materials/mdl/core_definitions.mdl b/psyonic_ability_hand_right_small/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/psyonic_ability_hand_right_small/materials/mdl/core_definitions.mdl @@ -0,0 +1,5806 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +// The "//group ... //endgroup" comments are used during the +// procedural creation of this module's documentation. +mdl 1.8; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::limits::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +export using ::base import texture_return; +export using ::base import mono_mode; +export using ::base import color_layer_mode; +import support_definitions::*; +module [[ + anno::version( 2, 2, 0), + anno::display_name("NVIDIA core definitions") +]]; + +export annotation icon(string path); + +const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; + +//some local functions, dont document + +// https://www.shadertoy.com/view/4djSRW +float2 hash22(float2 p) +{ + float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); + p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); + return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); +} + +// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. +// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. +// https://dept-info.labri.fr/~schlick/DOC/gem2.html +float schlick_gain(float x, float r) +{ + float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch + float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); + return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); +} + +// blend two normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +export float3 blend_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), + anno::soft_range(0.0,1.0) + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), + anno::soft_range(0.0,1.0) + ]] +) +[[ + anno::description("Blend two normals or apply a detail normal map"), + anno::display_name("Blend normals"), + anno::thumbnail(".thumbs/blend_normals.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT)]] +{ + return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); +} +// blend 3 normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +//TODO: make public? +float3 blend_3_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]], + float3 detail_normal2 = state::normal() + [[ + anno::description("The detail normal2") + ]], + float detail_normal_weight2 = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]] +) +[[ + anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), + anno::noinline() +]] +{ + float3 tu = state::texture_tangent_u(0); + float3 tv = state::texture_tangent_v(0); + float3 n = state::normal(); + + float w1 = math::saturate(base_normal_weight); + float w2 = math::saturate(detail_normal_weight); + float w3 = math::saturate(detail_normal_weight2); + + float3 n1_t = math::normalize( + float3(math::dot(tu, base_normal) * w1, + math::dot(tv, base_normal) * w1, + math::dot(n, base_normal) * w1 + 1.0f - w1)); + float3 n2_t = math::normalize( + float3(math::dot(tu, detail_normal) * w2, + math::dot(tv, detail_normal) * w2, + math::dot(n, detail_normal) * w2 + 1.0f - w2)); + float3 n3_t = math::normalize( + float3(math::dot(tu, detail_normal2) * w3, + math::dot(tv, detail_normal2) * w3, + math::dot(n, detail_normal2) * w3 + 1.0f - w3)); + + n1_t.z += 1.0f; + n2_t.x = -n2_t.x; + n2_t.y = -n2_t.y; + + float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; + + n12_t.z+= 1.0f; + n3_t.x = -n3_t.x; + n3_t.y = -n3_t.y; + float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; + + return math::normalize( + tu * n_t.x + + tv * n_t.y + + n * n_t.z); +} + +// blend 3 normals by blending the gradients +// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of +// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 +// http://jcgt.org/published/0009/03/04/ +float3 gradient_blend_3_normals( + float3 normal1 = state::normal(), + float normal1_weight = 1.0, + float3 normal2 = state::normal(), + float normal2_weight = 1.0, + float3 normal3 = state::normal(), + float normal3_weight = 1.0 +) +{ + float w1 = math::saturate(normal1_weight); + float w2 = math::saturate(normal2_weight); + float w3 = math::saturate(normal3_weight); + + // normal to gradient + float3 n = state::normal(); + float d1 = math::dot(n, normal1); + float d2 = math::dot(n, normal2); + float d3 = math::dot(n, normal3); + float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); + float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); + float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); + + // blend + float3 gg = w1 * g1 + w2 * g2 + w3 * g3; + + // gradient to normal + return math::normalize(n - gg); +} + +struct complex_ior +{ + color n; //refractive index + color k; //extinction coefficient +}; + + +//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. +complex_ior artistic_metal_to_complex_ior( + color reflectivity, + color edge_tint) +{ + float epsilon = 1.e-2; + color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); + color g = edge_tint; + + color r_sqrt = math::sqrt(r); + color n_min = (1.0f - r) / (1.0f + r); + color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); + + color n = math::lerp(n_max, n_min, g); + + color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); + k2 = math::max(k2, 0.0f); + color k = math::sqrt(k2); + + return complex_ior(n, k); +} + + + +float3x3 axis_rotation_matrix(float3 a, float r) +{ + float[2] sc = math::sincos(r); + float s = sc[0]; + float c = sc[1]; + float omc = 1.0 - c; + return float3x3( + a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, + a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, + a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c + ); +} +float3 transform_rotate(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return p*rotate; + +} +float3 transform_rotate_inv(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return rotate*p; + +} + +//group Enumerations + +export enum material_type +[[ + anno::display_name("User interface group"), + anno::description("User interface grouping hint for materials"), + anno::hidden() +]] +{ + simple_material + [[ anno::description("Simple material") ]], + complex_material + [[ anno::description("Complex material") ]], + combiner_material + [[ anno::description("Combiner material") ]], + modifier_material + [[ anno::description("Material modifier") ]] +}; + +export enum emission_type +[[ + anno::display_name("Emission mode"), + anno::description("Emission mode definition for light sources"), + anno::hidden() +]] +{ + lumen_m2 + [[ anno::description("lumen/m2") ]], + lumen + [[ anno::description("lumen") ]], + candela + [[ anno::description("candela") ]], + nit + [[ anno::description("nit (candela/m2)") ]] +}; + +export enum cell_type +[[ + anno::display_name("Worley noise cell type"), + anno::description("Behavior of the Worley noise cell"), + anno::hidden() +]] +{ + simple_cells = 0 + [[ anno::description("Simple cells") ]], + crystal_cells = 1 + [[ anno::description("Crystal cells") ]], + bordered_cells = 2 + [[ anno::description("Bordered cells") ]] +}; + +export enum cell_base +[[ + anno::display_name("Worley noise cell shape"), + anno::description("Shape of the Worley noise cell"), + anno::hidden() +]] +{ + circular_cells = 0 + [[ anno::description("Circle base") ]], + diamond_cells = 1 + [[ anno::description("Diamond base") ]] +}; + +export enum displacement_vector_space +[[ + anno::display_name("Displacement mode"), + anno::description("Displacement Mode"), + anno::hidden() +]] +{ + // displacement_height = 0 // reserve this for now + // [[ anno::display_name("Height") ]], + + displacement_vector_tangent_space = 1 + [[ anno::display_name("Vector, Tangent Space") ]], + + displacement_vector_object_space = 2 + [[ anno::display_name("Vector, Object Space") ]], + + displacement_vector_world_space = 3 + [[ anno::display_name("Vector, World Space") ]] +}; + +//endgroup + +float3 transform_displacement_vector( + float3 displacement = float3(0.0) + [[ anno::description("Displacement vector") ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ anno::description("Space of the displacement vector") ]], + float scale = 1.0f + [[ anno::description("Displacement scale") ]] +) +[[ + anno::description("Transform input displacement vector to dispacement offset"), + anno::hidden() +]] +{ + float3 result; + switch (space) + { + // case displacement_height: + // result = state::normal() * displacement * scale; + // break; + + case displacement_vector_tangent_space: + result = state::texture_tangent_u(0) * displacement[0] * scale + + state::texture_tangent_v(0) * displacement[2] * scale + + state::normal() * displacement[1] * scale; + break; + + case displacement_vector_object_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_object, + displacement * scale + ); + break; + + case displacement_vector_world_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_world, + displacement * scale + ); + break; + + default: + result = state::position(); + break; + } + + return result; +} + +float4x4 rotation_translation_scale( + float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct transformation matrix from Euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0. , 0. , 0., + 0. , scaling.y , 0. , 0., + 0. , 0. , scaling.z , 0., + translation.x , translation.y , translation.z , 1.); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0. , 0. , 0. , 1.); + + return scale*rotate; +} + +export annotation suitable_as_light(); +export annotation type_of_material(material_type type); +export annotation dimension(float dimension); +export annotation dimension(float2 dimension); +export annotation dimension(float3 dimension); + + +//group Texturing functions + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +blend_colors( + color color_1 = color(0.0) + [[ anno::display_name("Color 1") ]], + color color_2 = color(1.0) + [[ anno::display_name("Color 2") ]], + uniform color_layer_mode mode = color_layer_blend + [[ + anno::description("Describes how Color 1 and Color 2 are combined"), + anno::display_name("Blend mode") + ]], + float weight = 1. + [[ + anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), + anno::display_name("Blend weight"), + anno::soft_range(0.0,1.0) + ]], + uniform bool linear_blend = true + [[ + anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), + anno::display_name("Linear blend") + ]] +) +[[ + anno::display_name("Blend colors"), + anno::description("Allows combining textures and colors in varied ways"), + anno::thumbnail(".thumbs/blend_colors.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + color c1 = linear_blend? color_1: math::pow(color_1,0.45); + color c2 = linear_blend? color_2: math::pow(color_2,0.45); + float w = linear_blend? weight: math::pow(weight,0.45); + texture_return r = base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: c2, + weight: w, + mode: mode + )), + base: c1 + ); + return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(0) + ]], + uniform mono_mode mono_source = mono_average + [[ + anno::display_name("Scalar mode"), + anno::description("Defines how the texture applies to scalar parameters"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(1) + ]], + uniform float brightness = 1. + [[ + anno::display_name("Brightness"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0) + ]], + uniform float contrast = 1. + [[ + anno::display_name("Contrast"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(5) + ]], + uniform bool invert = false + [[ + anno::description("Invert image"), + anno::display_name("Invert image"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return invert == false? base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(0.5*brightness-0.5*contrast*brightness), + color_scale: color(brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ): base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), + color_scale: color(-brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ); +} +export color triplanar_file_texture( + uniform texture_2d texture_1 + [[ + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4), + anno::description("Optional texture used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::description("Optional texture used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::hard_range(0.0,1.0) + ]], + uniform color mean = color(0.0) + [[ + anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), + anno::display_name("Mean color"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15), + anno::hard_range(color(0.0),color(1.0)) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]] +) +[[ + anno::display_name("Triplanar Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position = state::transform_point(state::coordinate_internal, space, state::position()); + //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) + normal = transform_rotate(normal, math::radians(rotate_origin)); + position = transform_rotate(position, math::radians(rotate_origin)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + //weights = math::saturate(weights-float3(1.-blend_range)); + + weights /=float3(weights.x+weights.y+weights.z); + + + float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + + color c1 = weights.x>0? + support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) + :color(0.); + color c2 = weights.y>0? tex::texture_isvalid(texture_2)? + support_definitions::lookup_color( + texture_2, + support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) + :color(0.); + color c3 = weights.z>0? tex::texture_isvalid(texture_3)? + support_definitions::lookup_color( + texture_3, + support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) + :color(0.); + return mean == color(0.0)? + c1*weights.x + c2*weights.y+ c3*weights.z: + support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +perlin_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Perlin noise texture"), + anno::description("Enable texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(34), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_texture( + color1: color1, + color2: color2, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 perlin_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,5.0), + anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Perlin noise texture -- bump mapping"), + anno::description("Enable bump-map texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(35), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_bump_texture( + factor: factor, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +worley_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space") , + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform cell_type mode = simple_cells + [[ + anno::display_name("Cell type") , + anno::description("Cell pattern type"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(9) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]]) +[[ + anno::display_name("Cellular noise texture"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(36), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_texture( + color1: color1, + color2: color2, + mode: mode==crystal_cells?2:mode==bordered_cells?3:0, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 worley_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]]) +[[ + anno::display_name("Cellular noise texture -- bump mapping"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(37), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_bump_texture( + factor: factor, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +flow_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3) + + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4) + + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the third dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9), + anno::soft_range(0.0,1.0) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(15) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(14) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(13) + ]]) +[[ + anno::display_name("Flow noise texture"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(38), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_texture( + color1: color1, + color2: color2, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 flow_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(12) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the 3rd dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,1.0) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]] +) +[[ + anno::display_name("Flow noise texture -- bump mapping"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(39), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_bump_texture( + factor: factor, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +checker_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(7) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("3D checker texture"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(40), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_texture( + color1: color1, + color2: color2, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 checker_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the checker pattern.") + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1), + anno::description("Amount of softening applied to checker cell boundaries.") + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]] +) +[[ + anno::display_name("3D checker texture -- bump mapping"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_bump_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(41), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_bump_texture( + factor: factor, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 file_bump_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Bitmap texture used as the bump source.") + ]], + uniform mono_mode bump_source = mono_average + [[ + anno::display_name("Bump mode"), + anno::description("Defines how the texture is evaluated to create the bumps"), + anno::in_group("Bitmap parameters"), + anno::ui_order(2) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), + anno::display_name("Clip"), + anno::in_group("Placement"), + anno::ui_order(5) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Bump strength"), + anno::in_group("Bitmap parameters"), + anno::ui_order(3), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the sampled bitmap bump values.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture, bump"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_bump_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(31), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::file_bump_texture( + texture: texture, + bump_source: bump_source, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + clip: clip + ); +} + +export float3 normalmap_texture( + uniform texture_2d texture + [[ + anno::display_name("Normalmap file"), + anno::in_group("Normalmap parameters"), + icon(".icons/normal_map_texture.svg"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Tangent-space normal map texture.") + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(4) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0), + anno::description("Strength multiplier applied to the sampled normal-map perturbation.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(3) + ]], + uniform bool flip = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Normal map texture"), + anno::description("Allows the use of tangent space normal maps"), + anno::thumbnail(".thumbs/normalmap_texture.png"), + anno::in_group("Texturing"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::tangent_space_normal_texture( + texture: texture, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + flip_tangent_v: flip, + clip: clip + ); +} +export float3 triplanar_normalmap_texture( + uniform texture_2d texture_1 + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_1 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::usage("normal"), + anno::ui_order(4), + anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_2 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::usage("normal"), + anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_3 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::hard_range(0.0,1.0) + ]], + float strength = 1.0 + [[ + anno::description("Overall strength of the normalmap"), + anno::display_name("Strength"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::soft_range(0.0,10.0) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(16), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Triplanar Normalmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); + float3 rotation_origin_rad = math::radians(rotate_origin); + normal = transform_rotate(normal, rotation_origin_rad); + float3 position = transform_rotate(position_original, rotation_origin_rad); + float3 ty = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); + float3 tz = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + + + + float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); + float3 ts = math::normalize(math::cross(state::normal(),tz)); + float3 tt1 = math::normalize(math::cross(state::normal(),ts)); + + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + float3 ts3 = math::normalize(math::cross(state::normal(),ty)); + float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); + + tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; + float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; + tt1 = flip_1? -tt1: tt1; + + float rotation_1_rad = math::radians(rotation_1); + float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); + float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? + (support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength); + n1 = math::normalize( + ts * tan_rotation_mat_1 * n1.x + + tt1 * tan_rotation_mat_1 * n1.y + + state::normal() * (n1.z + (1.0 - strength))); + + float rotation_2_rad = math::radians(rotation_2); + float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) + ? axis_rotation_matrix(state::normal(), -rotation_2_rad) + : tan_rotation_mat_1; + float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? + (support_definitions::lookup_float3( + texture_2, + support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n2 = math::normalize( + ts * tan_rotation_mat_2 * n2.x + + tt2 * tan_rotation_mat_2 * n2.y + + state::normal() * (n2.z + (1.0 - strength))); + + float rotation_3_rad = math::radians(rotation_3); + float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) + ? axis_rotation_matrix(state::normal(), -rotation_3_rad) + : tan_rotation_mat_1; + float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? + (support_definitions::lookup_float3( + texture_3, + support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n3 = math::normalize( + ts3 * tan_rotation_mat_3 * n3.x + + tt3 * tan_rotation_mat_3 * n3.y + + state::normal() * (n3.z + (1.0 - strength))); + + return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); +} + +// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics +// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 +// http://jcgt.org/published/0011/03/05/ +struct hextile_data { + float2 coord1; + float2 coord2; + float2 coord3; + float3 weights; + float3x3 tangent_rot_mat1; + float3x3 tangent_rot_mat2; + float3x3 tangent_rot_mat3; +}; + +hextile_data hextile_coord( + float2 coord, + float rotation, + float2 rotation_range, + float scale, + float2 scale_range, + float offset, + float2 offset_range) +{ + float sqrt3_2 = math::sqrt(3.0) * 2.0; + + // scale coord to maintain the original fit + float2 st = coord * sqrt3_2; + + // skew input space into simplex triangle grid + // (1, 0, -tan(30), 2*tan(30)) + float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); + float2 st_skewed = to_skewed * st; + + // barycentric weights + float2 st_frac = math::frac(st_skewed); + float3 temp = float3(st_frac.x, st_frac.y, 0.0); + temp.z = 1.0 - temp.x - temp.y; + + float s = math::step(0.0, -temp.z); + float s2 = 2.0 * s - 1.0; + + float w1 = -temp.z * s2; + float w2 = s - temp.y * s2; + float w3 = s - temp.x * s2; + + // vertex IDs + int2 base_id = int2(math::floor(st_skewed)); + int si = int(s); + int2 id1 = base_id + int2(si, si); + int2 id2 = base_id + int2(si, 1 - si); + int2 id3 = base_id + int2(1 - si, si); + + // tile center + float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); + float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); + float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); + float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); + + // reuse hash for performance + float2 seed_offset = float2(0.12345); // to avoid some zeros + float2 rand1 = hash22(float2(id1) + seed_offset); + float2 rand2 = hash22(float2(id2) + seed_offset); + float2 rand3 = hash22(float2(id3) + seed_offset); + + // randomized rotation matrix + float2 rr = math::radians(rotation_range); + float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); + float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); + float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); + float[2] sc1 = math::sincos(rrr1); + float[2] sc2 = math::sincos(rrr2); + float[2] sc3 = math::sincos(rrr3); + float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); + float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); + float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); + + // rotation matrix for tangent vectors + float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); + float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); + float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); + + // randomized scale + float2 sr = scale_range; + float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); + float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); + float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); + + // randomized offset + float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); + float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); + float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); + + // get coord + float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; + float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; + float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; + + hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); + + return tile_data; +} + +export color hextiling_file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Bitmap texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + color default_color = color(0.0) + [[ + anno::display_name("Default color"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback color returned when no valid texture is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float falloff_contrast = 0.5 + [[ + anno::display_name("Falloff Contrast"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(11), + anno::description("Controls how strongly luminance influences blending weights.") + ]] +) +[[ + anno::display_name("Hextiling Bitmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_color; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup texture + color c1 = tex::lookup_color(texture, tile_data.coord1); + color c2 = tex::lookup_color(texture, tile_data.coord2); + color c3 = tex::lookup_color(texture, tile_data.coord3); + + // luminance as weight + float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); + cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); + + // blend weights + float3 w = cw * math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + color out_color = w.x * c1 + w.y * c2 + w.z * c3; + + return out_color; +} + +export float3 hextiling_normalmap_texture( + uniform texture_2d texture + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Normal map texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + float3 default_normal = state::normal() + [[ + anno::display_name("Default normal"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback normal returned when no valid normal map is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float strength = 1.0 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(11), + anno::soft_range(0.0, 1.0), + anno::description("Strength multiplier applied to sampled normal-map perturbations.") + ]], + uniform bool flip_g = false + [[ + anno::display_name("Flip V"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(12), + anno::description("Flips the green (Y) channel of the sampled normal maps.") + ]] +) +[[ + anno::display_name("Hextiling Normalmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_normal; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup normalmap + float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); + float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); + float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); + nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; + nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; + nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; + + // transform to geometry normals + nm1 = 2.0 * nm1 - 1.0; + nm2 = 2.0 * nm2 - 1.0; + nm3 = 2.0 * nm3 - 1.0; + float3 sn = state::normal(); + float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; + float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; + float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; + float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; + float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; + float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; + float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); + float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); + float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); + + // belnd weights + float3 w = math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); + + return out_normal; +} + +//endgroup + +//material section----------------------------------------------------------------------------------------------- + +//group Simple materials + +export material diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead a powdery appearance") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple diffuse"), + anno::description("A basic diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(0), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::diffuse_reflection_bsdf( + roughness: roughness, + tint: diffuse_color + ) + ) + ) +); + +export material dusty_diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Dusty diffuse"), + anno::description("A dusty diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::dusty_diffuse_reflection_bsdf( + tint: diffuse_color + ) + ) + ) +); + +export material scratched_metal_v2( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::ui_order(1), + anno::description("The color of the metal") + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::ui_order(3), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::ui_order(4), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::ui_order(5), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::ui_order(6), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::ui_order(7), + anno::description("Attach bump or normal maps here") + ]], + color edge_color = color(1.0) + [[ + anno::display_name("Edge color"), + anno::ui_order(2), + anno::description("The color of the metal towards the edge") + ]] +) +[[ + anno::display_name("Metal"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::in_group("Materials"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); + bsdf glossy_bsdf = df::fresnel_factor( + ior: ior.n, + extinction_coefficient: ior.k, + base: df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ) + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic_v2( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::in_group("Materials"), + anno::ui_order(2), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material retroreflective( + color base_color = color(.2,.03,.03) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + color reflection_color = color(.8,.8,.03) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the retroreflection"), + anno::ui_order(2) + ]], + float roughness = 0.15 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + float normal_reflectivity = .05 + [[ + anno::display_name("Reflection weight facing"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for geometry facing the viewer"), + anno::ui_order(4) + ]], + float grazing_reflectivity = 1. + [[ + anno::display_name("Reflection weight edge"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for the reflectivity at geometry edges"), + anno::ui_order(5) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Retroreflective"), + anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), + anno::thumbnail(".thumbs/retroreflective.png"), + anno::in_group("Materials"), + anno::ui_order(3), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","retroreflective","roadsign","stone")) +]] + = let{ + bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( + tint: reflection_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::custom_curve_layer( + normal_reflectivity: 1.-normal_reflectivity, + grazing_reflectivity: 1.-grazing_reflectivity, + base: glossy_bsdf, + layer: df::diffuse_reflection_bsdf( + roughness: 1.0, + tint: base_color + ), + normal: normal + ) + ) + ) +); + +export material flex_material_v2( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + float is_metal = 0.0 + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.3 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(5), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness*reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness*transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = df::weighted_layer( + is_metal, + df::weighted_layer( + weight: reflectivity, + layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), + base: add_transparency, + normal: normal + ), + df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ) + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass_v2( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(6), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent_v2( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(7), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass_v2( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(8), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness*roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent_v2( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(9), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +//endgroup + +//group Modifier materials + +export material blend( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float weight = 0. + [[ + anno::display_name("Blend weight"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]] +) +[[ + anno::display_name("Blend materials"), + anno::description("Blend characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/blend.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = let { + float inv_weight = 1.0f - weight; +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: material_emission( + mode: base.surface.emission.mode, //cant vary + intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), + emission: df::unbounded_mix( + df::edf_component[] + ( + df::edf_component(inv_weight,base.surface.emission.emission), + df::edf_component(weight,blend.surface.emission.emission) + ) + ) + ) + ), + volume: material_volume( + scattering: df::unbounded_mix( + df::vdf_component[] + ( + df::vdf_component(inv_weight,base.volume.scattering), + df::vdf_component(weight,blend.volume.scattering) + ) + ), + absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), + scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), + emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) + + ), + ior: base.ior, //can't vary + thin_walled: base.thin_walled, //can't vary + geometry: material_geometry( + displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), + cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), + normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) + ) +); + +export material twosided( + material front = scratched_plastic_v2() + [[ + anno::display_name("Front material"), + anno::description("The material on the front faces.") + ]], + material back = scratched_metal_v2() + [[ + anno::display_name("Back material"), + anno::description("The material on the back faces.") + ]] +) +[[ + anno::display_name("Two-sided materials"), + anno::description("Allows you to apply a material to front and back surfaces."), + anno::thumbnail(".thumbs/twosided.png"), + anno::in_group("Material modifiers"), + icon(".icons/two_sided_materials.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + thin_walled: true, + ior: front.ior, + surface: front.surface, + backface: back.surface, + geometry: front.geometry +); + +export material surface_falloff( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float facing_weight = 0.0 + [[ + anno::display_name("Blend weight facing"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float edge_weight = 1.0 + [[ + anno::display_name("Blend weight edge"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float blend_bias = 1. + [[ + anno::display_name("Blend bias"), + anno::soft_range(0.0,10.), + anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") + ]] +) +[[ + anno::display_name("Surface falloff"), + anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/surface_falloff.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/surface_falloff.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: 1., + exponent: blend_bias, + normal_reflectivity: facing_weight, + grazing_reflectivity: edge_weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_clearcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_clear_coating.svg"), + anno::ui_order(16), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_thinfilm( + material base = scratched_metal_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get shows a thin film effect") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("The IOR of the thin film interface") + ]], + float thickness = 400.0 + [[ + anno::display_name("Thickness"), + anno::soft_range(10.0,5000.0), + anno::description("Thickness of the thin film in nm") + ]] +) +[[ + anno::display_name("Apply thin film"), + anno::description("Apply thin film to an existing material"), + anno::thumbnail(".thumbs/apply_thinfilm.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_film.svg"), + anno::ui_order(17), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::thin_film( + ior: color(ior), + thickness: thickness, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_metal_coating.svg"), + anno::ui_order(18), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_dustcover( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color dust_color = color(.7) + [[ + anno::display_name("Dust color"), + anno::description("The color of the dust") + ]], + float visibility = 1. + [[ + anno::display_name("Dust density"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the cover") + ]], + uniform float dust_density = .5 + [[ + anno::display_name("Dust amount"), + anno::hard_range(.01,1), + anno::description("How dusty the material is") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Apply a cover of dust"), + anno::description("Apply a diffuse cover of dust or dirt"), + anno::thumbnail(".thumbs/apply_dustcover.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_dust_cover.svg"), + anno::ui_order(19), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf dust_bsdf = df::diffuse_reflection_bsdf( + roughness: 1., + tint: dust_color + ); +} in material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: visibility, + normal_reflectivity: dust_density*dust_density*dust_density, + exponent: (1.05-dust_density)*2., + normal: normal, + layer: dust_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_colorfalloff_v2( + material base = scratched_metal_v2(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + uniform color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("Color 1 (facing direction)") + ]], + uniform color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("Color 2") + ]], + uniform color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("Color 3") + ]], + uniform color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("Color 4") + ]], + uniform color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("Color 5 (object edges)") + ]] +) +[[ + anno::display_name("Apply a color falloff"), + anno::description("Makes the color view dependent"), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/apply_color_falloff.svg"), + anno::ui_order(20), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//JAN: TODO fix from here +export material apply_metallicflakes( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a flake layer applied") + ]], + color flake_color = color(.9,.7,.5) + [[ + anno::display_name("Color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.5 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = 0.5 + [[ + anno::display_name("Flake opacity"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]] +) +[[ + anno::display_name("Apply flake coating"), + anno::description("Apply layer of metallic flakes to an existing material"), + anno::thumbnail(".thumbs/apply_metallicflakes.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_flake_coating.svg"), + anno::ui_order(21), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flake_paint( + color base_color = color(.3,.01,.01) + [[ + anno::display_name("Base color"), + anno::description("The color of the base paint") + ]], + color flake_color = color(.6,1,.1) + [[ + anno::display_name("Flake color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.15 + [[ + anno::display_name("Flake roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.4 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = .8 + [[ + anno::display_name("Flake weight"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat") + ]], + float coat_roughness = 0.0 + [[ + anno::display_name("Coat roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat") + ]], + float3 coat_bump = state::normal() + [[ + anno::display_name("Coat bump"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Flaky paint"), + anno::description("A multi layer paint material containing flakes"), + anno::thumbnail(".thumbs/flake_paint.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(14), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("complex","carpaint")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: coat_bump, + layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), + base: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf(tint: base_color) + ) + ) + ), + thin_walled: true +); + +export material add_cutout( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a cut-out") + ]], + float cutout = 1.0 + [[ + anno::display_name("Cutout"), + anno::hard_range(0.0,1.0), + anno::description("Determines where the object is visible") + ]] +) [[ + anno::display_name("Add cut-outs"), + anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), + anno::thumbnail(".thumbs/add_cutout.png"), + anno::in_group("Material modifiers"), + icon(".icons/add_cutouts.svg"), + anno::ui_order(22), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: true, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: cutout + ) +); + +export material add_simple_sticker( + color diffuse_color = color(.5) + [[ + anno::display_name("Sticker color"), + anno::description("The color of the material"), + anno::ui_order(2) + ]], + float roughness = 0.05 + [[ + anno::display_name("Sticker roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("Sticker IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Sticker reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(4) + ]], + float3 sticker_normal = state::normal() + [[ + anno::display_name("Sticker bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]], + float sticker_mask = 0.0 + [[ + anno::display_name("Sticker mask"), + anno::hard_range(0.0,1.0), + anno::description("Determines extent of the sticker"), + anno::ui_order(5) + ]], + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a sticker added"), + anno::ui_order(1) + ]] +) [[ + anno::display_name("Add simple sticker"), + anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), + anno::thumbnail(".thumbs/add_simple_sticker.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_simple_sticker.svg"), + anno::ui_order(23), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = let{ + material blend_material = blend( + blend: scratched_plastic_v2( + diffuse_color: diffuse_color, + roughness: roughness, + ior: ior, + reflectivity: reflectivity, + normal: sticker_normal), + base: base, + weight: sticker_mask + ); +} in material( + surface: blend_material.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_globalbump( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bump"), + anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") + ]] +) [[ + anno::display_name("Add global bumpmap"), + anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), + anno::thumbnail(".thumbs/add_globalbump.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_global_bumpmap.svg"), + anno::ui_order(24), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float displacement = 0.0 + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add displacement"), + anno::description("Adds displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_vector_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get displacement") + ]], + float3 displacement = float3(0.0) + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") + ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ + anno::display_name("Displacement vector mode"), + anno::description("Specify the space of the vector dispacement map") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add vector displacement"), + anno::description("Adds vector displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_vector_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_round_edges( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get round edges") + ]], + uniform float round_edges_radius = 0.02 + [[ + anno::display_name("Round edge radius"), + anno::description("Influence radius around the edges in meters") + ]], + uniform float round_edges_roundness = 1.0 + [[ + anno::display_name("Round edge roundness"), + anno::description("Determines how round the edge will look"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false + [[ + anno::display_name("Round edge across materials"), + anno::description("Normal smoothing happens only between facets of equal material, unless + this parameter is set true, in which case the smoothing happens between + facets irrespective of their materials") + ]] +) [[ + anno::display_name("Add round edges"), + anno::description("Adds round edges to existing materials"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_round_edges.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: state::rounded_corner_normal( + radius: round_edges_radius, + roundness: round_edges_roundness, + across_materials: round_edges_across_materials + ), + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add emission"), + anno::description("Adds emission to a material"), + anno::thumbnail(".thumbs/add_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_emission.svg"), + anno::ui_order(26), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material add_thermal_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + uniform float temperature = 6500. + [[ + anno::display_name("Temperature"), + anno::description("The color temperature of the light in Kelvin") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add thermal emission"), + anno::description("Adds emission to a material, color is based on a \"color temperature\""), + anno::thumbnail(".thumbs/add_thermal_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_thermal_emission.svg"), + anno::ui_order(27), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; + color emission_color = math::blackbody(temperature); + + color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: scaled_intensity, + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//endgroup + +/**-*/ + +//group Emissive materials + +export material light_omni ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Diffuse emission"), + anno::description("Emissive material emitting in all directions"), + anno::thumbnail(".thumbs/light_omni.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::ui_order(5000), + anno::hidden(), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::diffuse_edf(), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_spot ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform float spot_exponent = 30 + [[ + anno::display_name("Spot focus"), + anno::description("larger values lead to more focused spotlights") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Spotlight emission"), + anno::description("Emissive material emitting focused in one direction"), + anno::thumbnail(".thumbs/light_spot.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5051), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + //since this is a spotlight, we need the apex angle to convert from candela to lumen + //http://www.compuphase.com/electronics/candela_lumen.htm + //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi + //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); + + //correct integral + uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_ies ( + uniform light_profile profile + [[ + anno::display_name("IES light profile data"), + anno::description("Data to describe the distribution of the light") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(),//deprecated + anno::description("Modeling unit to meter conversion factor") + ]] +) [[ + anno::display_name("IES file based emission"), + anno::description("Emissive material emitting as described in an IES file"), + anno::thumbnail(".thumbs/light_ies.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5052), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = material ( + surface: material_surface ( + emission: material_emission ( + emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*intensity*unit_scale + ) + ) +); + +//endgroup + +//group Deprecated + +//deprecated functionality=========================================================================================== +export annotation ui_position(int position); +export annotation typical_object_size(float size); + +export material metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple metal, deprecated"), + anno::description("A basic metallic material"), + anno::thumbnail(".thumbs/metal.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.25 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic"), + anno::thumbnail(".thumbs/plastic.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Metal , deprecated"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material apply_colorfalloff( + material base = scratched_metal(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("The color of the dust") + ]], + color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("The color of the dust") + ]], + color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("The color of the dust") + ]], + color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("The color of the dust") + ]], + color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("The color of the dust") + ]] +) +[[ + anno::display_name("Apply a color falloff, deprecated"), + anno::description("Makes the color view dependent"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::hidden(), + //anno::deprecated("Use apply_colorfalloff_v2 instead"), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flex_material( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + uniform bool is_metal = false + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.1 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model, deprecated"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::hidden(), + //anno::deprecated("Use flex_material_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: is_metal? base_color: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = is_metal? df::weighted_layer( + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ): df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass, deprecated"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::hidden(), + //anno::deprecated("Use thin_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent, deprecated"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thin_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass, deprecated"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::hidden(), + //anno::deprecated("Use thick_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent, deprecated"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thick_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material apply_clearcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating, deprecated"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_clearcoat_v2 instead"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating, deprecated"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_metalcoat_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +//endgroup + +/*-**/ diff --git a/psyonic_ability_hand_right_small/materials/mdl/license.txt b/psyonic_ability_hand_right_small/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/psyonic_ability_hand_right_small/materials/mdl/license.txt @@ -0,0 +1,73 @@ +# NVIDIA Omniverse Core Materials Licenses + +## Primary License +This project is primarily licensed under the BSD-3-Clause License. + +``` +Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +``` + +## Third-Party Licenses + +### Apache License 2.0 +The following components are licensed under the Apache License 2.0: + +#### MaterialX Components +Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: +https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE + +``` +Copyright Contributors to the MaterialX Project + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +``` + +## SPDX License Identifiers +Files in this project use the following SPDX license identifiers: +- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code +- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components + +## License Attribution +This project contains code from multiple sources: +1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase +2. Academy Software Foundation (Apache-2.0) - MaterialX components + +## License Scope +- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise +- Files in `/source/mdl/materialx` are licensed under Apache-2.0 +- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/psyonic_ability_hand_right_small/materials/mdl/support_definitions.mdl b/psyonic_ability_hand_right_small/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/psyonic_ability_hand_right_small/materials/mdl/support_definitions.mdl @@ -0,0 +1,4292 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.8; + +import ::anno::*; +import ::math::*; + +using .::aux_definitions import xy; +import ::state::*; +import ::scene::*; + +export using ::state import coordinate_space; //enum type +import ::tex::*; +export using ::tex import gamma_mode; //enum type +export using ::tex import wrap_mode; //enum type + +module [[ + anno::version( 1, 2, 0), + anno::display_name("NVIDIA support definitions") +]]; + +export annotation icon(string path); + + +export float data_lookup_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float(name, default_value); +} + +export float2 data_lookup_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float2(name, default_value); +} + +export float3 data_lookup_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float3(name, default_value); +} + +export float4 data_lookup_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float4(name, default_value); +} + +export int data_lookup_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int(name, default_value); +} + +export int2 data_lookup_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int2(name, default_value); +} + +export int3 data_lookup_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int3(name, default_value); +} + +export int4 data_lookup_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int4(name, default_value); +} + +export color data_lookup_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_color(name, default_value); +} + +export uniform float data_lookup_uniform_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float(name, default_value); +} + +export uniform float2 data_lookup_uniform_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float2(name, default_value); +} + +export uniform float3 data_lookup_uniform_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float3(name, default_value); +} + +export uniform float4 data_lookup_uniform_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float4(name, default_value); +} + +export uniform int data_lookup_uniform_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int(name, default_value); +} + +export uniform int2 data_lookup_uniform_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int2(name, default_value); +} + +export uniform int3 data_lookup_uniform_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int3(name, default_value); +} + +export uniform int4 data_lookup_uniform_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int4(name, default_value); +} + +export uniform color data_lookup_uniform_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_color(name, default_value); +} + + + +// operator nodes +// Add +export int add(int a=0, int b=0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(300) +]] +{ return a+b; } + +export float add(float a=0.0, float b=0.0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(301) +]] +{ return a+b; } + +export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(302) +]] +{ return a+b; } + +export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(303) +]] +{ return a+b; } + +export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(304) +]] +{ return a+b; } + +export color add(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(305) +]] +{ return a+b; } + +export int subtract(int a=0, int b=0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(310) +]] +{ return a-b; } + +export float subtract(float a=0.0, float b=0.0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(311) +]] +{ return a-b; } + +export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(312) +]] +{ return a-b; } + +export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(313) +]] +{ return a-b; } + +export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(314) +]] +{ return a-b; } + +export color subtract(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(315) +]] +{ return a-b; } + +export int multiply(int a=0, int b=0) +[[ + anno::display_name("Multiply"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(320) +]] +{ return a*b; } + +export float multiply(float a=0.0, float b=0.0) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(321) +]] +{ return a*b; } + +export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(322) +]] +{ return a*b; } + +export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(323) +]] +{ return a*b; } + +export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(324) +]] +{ return a*b; } + +export color multiply(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(325) +]] +{ return a*b; } + +export int divide(int a=0, int b=0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(326) +]] +{ return a/b; } + +export float divide(float a=0.0, float b=0.0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(327) +]] +{ return a/b; } + +export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(328) +]] +{ return a/b; } + +export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(329) +]] +{ return a/b; } + +export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(330) +]] +{ return a/b; } + +export color divide(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(331) +]] +{ return a/b; } + +export int condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + int a=0 [[ + anno::description("Value returned when the condition is true.") + ]], + int b=0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(332) +]] +{ return x?a:b; } + +export float condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float a=0.0 [[ + anno::description("Value returned when the condition is true.") + ]], + float b=0.0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(333) +]] +{ return x?a:b; } + +export float2 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float2 a=float2(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float2 b=float2(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(334) +]] +{ return x?a:b; } + +export float3 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float3 a=float3(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float3 b=float3(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(335) +]] +{ return x?a:b; } + +export float4 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float4 a=float4(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float4 b=float4(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(336) +]] +{ return x?a:b; } + +export color condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + color a=color(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + color b=color(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(337) +]] +{ return x?a:b; } + +export bool compare(float a, float b) +[[ + anno::display_name("Compare"), + anno::description("Returns true when a is greater than b; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Comparison"), + icon(".icons/compare.svg"), + anno::ui_order(338) +]] +{ return a>b; } + +export bool equality(bool a, bool b) +[[ + anno::display_name("Check equality bool"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(339) +]] +{ return a==b; } + +export bool equality(int a, int b) +[[ + anno::display_name("Check equality int"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(340) +]] +{ return a==b; } + +export bool equality(int2 a, int2 b) +[[ + anno::display_name("Check equality int2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(341) +]] +{ return a==b; } + +export bool equality(int3 a, int3 b) +[[ + anno::display_name("Check equality int3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(342) +]] +{ return a==b; } + +export bool equality(float a, float b) +[[ + anno::display_name("Check equality float"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(343) +]] +{ return a==b; } + +export bool equality(float2 a, float2 b) +[[ + anno::display_name("Check equality float2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(344) +]] +{ return a==b; } + +export bool equality(float3 a, float3 b) +[[ + anno::display_name("Check equality float3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(345) +]] +{ return a==b; } + +export bool equality(color a, color b) +[[ + anno::display_name("Check equality color"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(346) +]] +{ return a==b; } + +//constants nodes. +export bool bool_const(uniform bool b = true) +[[ + anno::display_name("Constant bool"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1000) +]] +{ return b; } + +export int int_const(uniform int i = 0) +[[ + anno::display_name("Constant int"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1001) +]] +{ return i; } + +export float float_const(uniform float f = 0.) +[[ + anno::display_name("Constant float"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1002) +]] +{ return f; } + +export float2 float2_const(uniform float2 f2 = float2(0.)) +[[ + anno::display_name("Constant float2"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1003) +]] +{ return f2; } + +export float3 float3_const(uniform float3 f3 = float3(0.)) +[[ + anno::display_name("Constant float3"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1004) +]] +{ return f3; } + +export float4 float4_const(uniform float4 f4 = float4(0.)) +[[ + anno::display_name("Constant float4"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1005) +]] +{ return f4; } + +export color color_const(uniform color c = color(0.)) +[[ + anno::display_name("Constant color"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1006) +]] +{ return c; } + +export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ + anno::display_name("Constant texture_2d"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1007) +]] +{ return tex; } + +//exports from tex: +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose width is queried.") + ]]) uniform +[[ + anno::display_name("Width of texture"), + anno::description("Returns the width of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(141) +]] +{ return tex::width(tex); } + +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile width is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Width of a texture tile"), + anno::description("Returns the width of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(143) +]] +{ return tex::width(tex, uv_tile); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose height is queried.") + ]]) uniform +[[ + anno::display_name("Height of texture"), + anno::description("Returns the height of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(142) +]] +{ return tex::height(tex); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile height is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Height of a texture tile"), + anno::description("Returns the height of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(144) +]] +{ return tex::height(tex,uv_tile); } + +export float2 transform_st( + float rotation = 0.0 [[ + anno::description("Rotation angle in radians.") + ]], + float2 translation = float2(0.0) [[ + anno::description("Translation offset applied after rotation and scaling.") + ]], + float2 scale = float2(1.0) [[ + anno::description("Scale factor applied per coordinate axis.") + ]], + float2 st = float2(0.0) [[ + anno::description("Input 2D coordinate to transform.") + ]] +) +[[ + anno::display_name("Transform 2D"), + anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform"), + icon(".icons/transform.svg"), + anno::ui_order(1019) +]] +{ + float s = math::sin(rotation); + float c = math::cos(rotation); + float2 st_t=st; + st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); + return st_t*scale+ translation; +} + +export color biased_color_blend( + float w1 = 0.0 [[ + anno::description("Weight for the first input color.") + ]], + color c1 = color(0.0) [[ + anno::description("First input color.") + ]], + float w2 = 0.0 [[ + anno::description("Weight for the second input color.") + ]], + color c2 = color(0.0) [[ + anno::description("Second input color.") + ]], + float w3 = 0.0 [[ + anno::description("Weight for the third input color.") + ]], + color c3 = color(0.0) [[ + anno::description("Third input color.") + ]], + color mean = color(0.5) [[ + anno::description("Expected average color used to preserve contrast in the biased blend.") + ]] +) +[[ + anno::display_name("Biased color blend"), + anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Blend"), + icon(".icons/biased_color_blend.svg"), + anno::ui_order(539) +]] +{ + color o=w1*c1+w2*c2+w3*c3; + float s=w1+w2+w3; + float s2=w1*w1+w2*w2+w3*w3; +return mean + (o-s*mean)/ math::sqrt(s2); +} + + +export float lookup_float( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(100) +]] +{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + +export float3 lookup_float3( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float3"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(110) +]] +{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export float4 lookup_float4( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float4"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(120) +]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export color lookup_color( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup color"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(130) +]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +// check for valid resource +export bool texture_isvalid( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to validate.") + ]]) uniform +[[ + anno::display_name("Is texture valid?"), + anno::description("Returns true when the provided texture handle is valid and can be sampled."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info"), + icon(".icons/texture_isvalid.svg"), + anno::ui_order(140) +]] +{ return tex::texture_isvalid(tex); } + + +//exports from state: +export float3 position() +[[ + anno::display_name("Hit position"), + anno::description("Returns the current shading position in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/position.svg"), + anno::ui_order(1012) +]] +{ return state::position(); } + +export float3 normal() +[[ + anno::display_name("Shade normal"), + anno::description("Returns the current shading normal in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/normal.svg"), + anno::ui_order(1013) +]] +{ return state::normal(); } + +//new: quick access to xy: +export float2 texture_coordinate_2d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 2D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1010) +]] +{ return xy(state::texture_coordinate(i)); } + +export float3 texture_coordinate_3d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 3D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1011) +]] +{ return state::texture_coordinate(i); } + +export float3 texture_tangent_u( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the U tangent.") + ]]) +[[ + anno::display_name("Shade tangent"), + anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1014) +]] +{ return state::texture_tangent_u(i); } + +export float3 texture_tangent_v( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the V tangent.") + ]]) +[[ + anno::display_name("Shade bi-tangent"), + anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1015) +]] +{ return state::texture_tangent_v(i); } + +export float animation_time() +[[ + anno::display_name("Animation time"), + anno::description("Returns elapsed animation time in seconds from the start of the timeline."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene"), + icon(".icons/animation_time.svg"), + anno::ui_order(1030) +]] +{ return state::animation_time(); } + + +export float3 transform_point( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input point.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed point.") + ]], + float3 point=float3(0.) [[ + anno::description("Point to transform.") + ]]) +[[ + anno::display_name("Transform point"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1020) +]] +{ return state::transform_point(from, to, point); } + +export float3 transform_vector( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input vector.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed vector.") + ]], + float3 vector=float3(0.) [[ + anno::description("Vector to transform.") + ]]) +[[ + anno::display_name("Transform vector"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1021) +]] +{ return state::transform_vector(from, to, vector); } + +export float3 transform_normal( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input normal.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed normal.") + ]], + float3 normal=float3(0.,1.,0.) [[ + anno::description("Normal vector to transform.") + ]]) +[[ + anno::display_name("Transform normal"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1022) +]] +{ return state::transform_normal(from, to, normal); } + +export float transform_scale( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input scale value.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed scale value.") + ]], + float scale=0. [[ + anno::description("Scale value to transform.") + ]]) +[[ + anno::display_name("Transform scale"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1023) +]] +{ return state::transform_scale(from, to, scale); } + +float2 r2d(float2 x, float theta) +{ + theta *= math::acos(-1.0) * 2.0; + return float2( + math::cos(theta) * x[0] + math::sin(theta) * x[1], + math::cos(theta) * x[1] - math::sin(theta) * x[0]); +} + +export float3 rotate_around_x( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around X"), + anno::description("Rotates a 3D point around the X axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1024) +]] +{ + float2 v = r2d(float2(p.y, p.z), theta); + return float3(p.x, v[0], v[1]); +} + +export float3 rotate_around_y( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Y"), + anno::description("Rotates a 3D point around the Y axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1025) +]] +{ + float2 v = r2d(float2(p.x, p.z), theta); + return float3(v[0], p.y, v[1]); +} + +export float3 rotate_around_z( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Z"), + anno::description("Rotates a 3D point around the Z axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1026) +]] +{ + float2 v = r2d(float2(p.x, p.y), theta); + return float3(v[0], v[1], p.z); +} + +export float meters_per_scene_unit() +[[ + anno::display_name("Meters per scene unit"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/meters_per_scene_unit.svg"), + anno::ui_order(1031) +]] +{ return state::meters_per_scene_unit(); } + +export float scene_units_per_meter() +[[ + anno::display_name("Scene units per meter"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/scene_units_per_meter.svg"), + anno::ui_order(1032) +]] +{ return state::scene_units_per_meter(); } + +export int object_id() +[[ + anno::display_name("Object Id"), + anno::description("Returns the unique integer identifier of the currently shaded object."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/object_id.svg"), + anno::ui_order(1033) +]] +{ return state::object_id(); } + +//exported from math: +export color blackbody( + float temperature=6500. [[ + anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") + ]]) +[[ + anno::display_name("Blackbody color"), + anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/blackbody.svg"), + anno::ui_order(409) +]] +{ return math::blackbody(temperature); } + +export float PI() +[[ + anno::display_name("Pi"), + anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Constants"), + icon(".icons/PI.svg"), + anno::ui_order(1007) +]] +{ return math::PI; } + +export int abs(int a=0) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(350) +]] +{ return math::abs(a); } + +export float abs(float a=0.) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(351) +]] +{ return math::abs(a); } + +export float2 abs(float2 a=float2(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(352) +]] +{ return math::abs(a); } + +export float3 abs(float3 a=float3(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(353) +]] +{ return math::abs(a); } + +export float4 abs(float4 a=float4(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(354) +]] +{ return math::abs(a); } + +export color abs(color a=color(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(355) +]] +{ return math::abs(a); } + +export float acos(float a=0.) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(360) +]] +{ return math::acos(a); } + +export float2 acos(float2 a=float2(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(361) +]] +{ return math::acos(a); } + +export float3 acos(float3 a=float3(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(362) +]] +{ return math::acos(a); } + +export float4 acos(float4 a=float4(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(363) +]] +{ return math::acos(a); } + + +export float asin(float a=0.) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(370) +]] +{ return math::asin(a); } + +export float2 asin(float2 a=float2(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(371) +]] +{ return math::asin(a); } + +export float3 asin(float3 a=float3(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(372) +]] +{ return math::asin(a); } + +export float4 asin(float4 a=float4(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(373) +]] +{ return math::asin(a); } + +export float atan(float a=0.) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(380) +]] +{ return math::atan(a); } + +export float2 atan(float2 a=float2(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(381) +]] +{ return math::atan(a); } + +export float3 atan(float3 a=float3(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(382) +]] +{ return math::atan(a); } + +export float4 atan(float4 a=float4(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(383) +]] +{ return math::atan(a); } + +export float atan2( + float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(390) +]] +{ return math::atan2(y,x); } + +export float2 atan2( + float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(391) +]] +{ return math::atan2(y,x); } + +export float3 atan2( + float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(392) +]] +{ return math::atan2(y,x); } + +export float4 atan2( + float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(393) +]] +{ return math::atan2(y,x); } + +export float average(float2 a=float2(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(400) +]] +{ return math::average(a); } + +export float average(float3 a=float3(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(401) +]] +{ return math::average(a); } + +export float average(float4 a=float4(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(402) +]] +{ return math::average(a); } + +export float average(color a=color(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(403) +]] +{ return math::average(a); } + +export float ceil(float a=0.) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(410) +]] +{ return math::ceil(a); } + +export float2 ceil(float2 a=float2(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float3 ceil(float3 a=float3(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float4 ceil(float4 a=float4(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(412) +]] +{ return math::ceil(a); } + +export int clamp( + int a=0 [[anno::description("Input value to clamp.")]], + int min=0 [[anno::description("Lower bound of the output range.")]], + int max=1 [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(420) +]] +{ return math::clamp(a,min,max); } + +export float clamp( + float a=0. [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(421) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(422) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(423) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(424) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(425) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(426) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(427) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(428) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(429) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(430) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(431) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(432) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(433) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(434) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(435) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(436) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(437) +]] +{ return math::clamp(a,min,max); } + +export float cos(float a=0.) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(440) +]] +{ return math::cos(a); } + +export float2 cos(float2 a=float2(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(441) +]] +{ return math::cos(a); } + +export float3 cos(float3 a=float3(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(442) +]] +{ return math::cos(a); } + +export float4 cos(float4 a=float4(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(443) +]] +{ return math::cos(a); } + +export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Cross"), + anno::description("Returns the 3D cross product of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/cross_product.svg"), + anno::ui_order(449) +]] +{ return math::cross(a,b); } + +export float degrees( + float a=0. [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(450) +]] +{ return math::degrees(a); } + +export float2 degrees( + float2 a=float2(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(451) +]] +{ return math::degrees(a); } + +export float3 degrees( + float3 a=float3(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(452) +]] +{ return math::degrees(a); } + +export float4 degrees( + float4 a=float4(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(453) +]] +{ return math::degrees(a); } + +export float distance(float a=0., float b=0.) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(460) +]] +{ return math::distance(a,b); } + +export float distance(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(461) +]] +{ return math::distance(a,b); } + +export float distance(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(462) +]] +{ return math::distance(a,b); } + +export float distance(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(463) +]] +{ return math::distance(a,b); } + +export float dot(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(470) +]] +{ return math::dot(a,b); } + +export float dot(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(471) +]] +{ return math::dot(a,b); } + +export float dot(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(472) +]] +{ return math::dot(a,b); } + +export float exp(float a=0.) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(480) +]] +{ return math::exp(a); } + +export float2 exp(float2 a=float2(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float3 exp(float3 a=float3(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float4 exp(float4 a=float4(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(482) +]] +{ return math::exp(a); } + +export color exp(color a=color(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(483) +]] +{ return math::exp(a); } + +export float exp2(float a=0.) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(490) +]] +{ return math::exp2(a); } + +export float2 exp2(float2 a=float2(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(491) +]] +{ return math::exp2(a); } + +export float3 exp2(float3 a=float3(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(492) +]] +{ return math::exp2(a); } + +export float4 exp2(float4 a=float4(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(493) +]] +{ return math::exp2(a); } + +export color exp2(color a=color(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(494) +]] +{ return math::exp2(a); } + +export float floor(float a=0.) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(500) +]] +{ return math::floor(a); } + +export float2 floor(float2 a=float2(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(501) +]] +{ return math::floor(a); } + +export float3 floor(float3 a=float3(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(502) +]] +{ return math::floor(a); } + +export float4 floor(float4 a=float4(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(503) +]] +{ return math::floor(a); } + +export float fmod( + float a=0. [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(510) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float2 b=float2(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(511) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float3 b=float3(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(512) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float4 b=float4(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(513) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(514) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(515) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(516) +]] +{ return math::fmod(a,b); } + +export float frac(float a=0.) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(520) +]] +{ return math::frac(a); } + +export float2 frac(float2 a=float2(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(521) +]] +{ return math::frac(a); } + +export float3 frac(float3 a=float3(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(522) +]] +{ return math::frac(a); } + +export float4 frac(float4 a=float4(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(523) +]] +{ return math::frac(a); } + +export float length(float2 a=float2(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(530) +]] +{ return math::length(a); } + +export float length(float3 a=float3(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(531) +]] +{ return math::length(a); } + +export float length(float4 a=float4(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(532) +]] +{ return math::length(a); } + +export float lerp( + float a=0. [[anno::description("Start value at interpolation factor 0.")]], + float b=1. [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(540) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(541) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(542) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(543) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(544) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(545) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(546) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(547) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(548) +]] +{ return math::lerp(a,b,l); } + +export float log(float a=1.) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(550) +]] +{ return math::log(a); } + +export float2 log(float2 a=float2(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(551) +]] +{ return math::log(a); } + +export float3 log(float3 a=float3(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(552) +]] +{ return math::log(a); } + +export float4 log(float4 a=float4(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(553) +]] +{ return math::log(a); } + +export color log(color a=color(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(554) +]] +{ return math::log(a); } + +export float log2(float a=1.) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(560) +]] +{ return math::log2(a); } + +export float2 log2(float2 a=float2(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(561) +]] +{ return math::log2(a); } + +export float3 log2(float3 a=float3(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(562) +]] +{ return math::log2(a); } + +export float4 log2(float4 a=float4(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(563) +]] +{ return math::log2(a); } + +export color log2(color a=color(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(564) +]] +{ return math::log2(a); } + +export float log10(float a=1.) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(570) +]] +{ return math::log10(a); } + +export float2 log10(float2 a=float2(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(571) +]] +{ return math::log10(a); } + +export float3 log10(float3 a=float3(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(572) +]] +{ return math::log10(a); } + +export float4 log10(float4 a=float4(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(573) +]] +{ return math::log10(a); } + +export color log10(color a=color(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(574) +]] +{ return math::log10(a); } + +export float luminance(float3 a=float3(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(580) +]] +{ return math::luminance(a); } + +export float luminance(color a=color(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(581) +]] +{ return math::luminance(a); } + +export float luminance(float4 a=float4(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(582) +]] +{ return math::luminance(float3(a.x,a.y,a.z)); } + +export int max(int a=0, int b=0) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(590) +]] +{ return math::max(a,b); } + +export float max(float a=0., float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(591) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(592) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(593) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(594) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(595) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(596) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(597) +]] +{ return math::max(a,b); } + +export float2 max(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(598) +]] +{ return math::max(a,b); } + +export float3 max(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(599) +]] +{ return math::max(a,b); } + +export float4 max(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(600) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(601) +]] +{ return math::max(a,b); } + +export color max(float a=0., color b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(602) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(603) +]] +{ return math::max(a,b); } + +export float max_value(float2 a=float2(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(610) +]] +{ return math::max_value(a); } + +export float max_value(float3 a=float3(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(611) +]] +{ return math::max_value(a); } + +export float max_value(float4 a=float4(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(612) +]] +{ return math::max_value(a); } + +export float max_value(color a=color(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(613) +]] +{ return math::max_value(a); } + +export int min(int a=0, int b=0) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(620) +]] +{ return math::min(a,b); } + +export float min(float a=0., float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(621) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(622) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(623) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(624) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(625) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(626) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(627) +]] +{ return math::min(a,b); } + +export float2 min(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(628) +]] +{ return math::min(a,b); } + +export float3 min(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(629) +]] +{ return math::min(a,b); } + +export float4 min(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(630) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(631) +]] +{ return math::min(a,b); } + +export color min(float a=0., color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(632) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(633) +]] +{ return math::min(a,b); } + +export float min_value(float a=0.) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(640) +]] +{ return math::min_value(a); } + +export float min_value(float2 a=float2(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(641) +]] +{ return math::min_value(a); } + +export float min_value(float3 a=float3(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(642) +]] +{ return math::min_value(a); } + +export float min_value(float4 a=float4(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(643) +]] +{ return math::min_value(a); } + +export float min_value(color a=color(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(644) +]] +{ return math::min_value(a); } + +export float2 normalize( + float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(650) +]] +{ return math::normalize(a); } + +export float3 normalize( + float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(651) +]] +{ return math::normalize(a); } + +export float4 normalize( + float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(652) +]] +{ return math::normalize(a); } + +export int pow( + int a=0 [[anno::description("Base value.")]], + int b=0 [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(660) +]] +{ return math::pow(a,b); } + +export float pow( + float a=0. [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(661) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float2 b=float2(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(662) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float3 b=float3(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(663) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float4 b=float4(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(664) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(665) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(666) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(667) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + color b=color(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(668) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(669) +]] +{ return math::pow(a,b); } + +export float radians( + float a=0. [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(670) +]] +{ return math::radians(a); } + +export float2 radians( + float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(671) +]] +{ return math::radians(a); } + +export float3 radians( + float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(672) +]] +{ return math::radians(a); } + +export float4 radians( + float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(673) +]] +{ return math::radians(a); } + +export float round(float a=0.) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(690) +]] +{ return math::round(a); } + +export float2 round(float2 a=float2(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(691) +]] +{ return math::round(a); } + +export float3 round(float3 a=float3(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(692) +]] +{ return math::round(a); } + +export float4 round(float4 a=float4(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(693) +]] +{ return math::round(a); } + +export float rsqrt(float a=0.) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(700) +]] +{ return math::rsqrt(a); } + +export float2 rsqrt(float2 a=float2(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(701) +]] +{ return math::rsqrt(a); } + +export float3 rsqrt(float3 a=float3(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(702) +]] +{ return math::rsqrt(a); } + +export float4 rsqrt(float4 a=float4(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(703) +]] +{ return math::rsqrt(a); } + +export color rsqrt(color a=color(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(704) +]] +{ return math::rsqrt(a); } + +export float saturate( + float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(710) +]] +{ return math::saturate(a); } + +export float2 saturate( + float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(711) +]] +{ return math::saturate(a); } + +export float3 saturate( + float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(712) +]] +{ return math::saturate(a); } + +export float4 saturate( + float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(713) +]] +{ return math::saturate(a); } + +export color saturate( + color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(714) +]] +{ return math::saturate(a); } + +export int sign(int a=0) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(720) +]] +{ return math::sign(a); } + +export float sign(float a=0.) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(721) +]] +{ return math::sign(a); } + +export float2 sign(float2 a=float2(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(722) +]] +{ return math::sign(a); } + +export float3 sign(float3 a=float3(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(723) +]] +{ return math::sign(a); } + +export float4 sign(float4 a=float4(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(724) +]] +{ return math::sign(a); } + +export float sin(float a=0.) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(730) +]] +{ return math::sin(a); } + +export float2 sin(float2 a=float2(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(731) +]] +{ return math::sin(a); } + +export float3 sin(float3 a=float3(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(732) +]] +{ return math::sin(a); } + +export float4 sin(float4 a=float4(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(733) +]] +{ return math::sin(a); } + +export float2 sincos( + float a=0. [[ + anno::description("Input angle in radians.") + ]]) +[[ + anno::display_name("SinCos"), + anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/sincos.svg"), + anno::ui_order(739) +]] +{ float[]b = math::sincos(a); return float2(b[0],b[1]); } + +export float smoothstep( + float a=0. [[ + anno::description("Lower edge of the interpolation range.") + ]], + float b=1. [[ + anno::description("Upper edge of the interpolation range.") + ]], + float l=0. [[ + anno::description("Input value to evaluate against the interpolation range.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(740) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float2 l=float2(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(741) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float3 l=float3(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(742) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float4 l=float4(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(743) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(744) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(745) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(746) +]] +{ return math::smoothstep(a,b,l); } + +export float sqrt(float a=0.) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(750) +]] +{ return math::sqrt(a); } + +export float2 sqrt(float2 a=float2(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(751) +]] +{ return math::sqrt(a); } + +export float3 sqrt(float3 a=float3(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(752) +]] +{ return math::sqrt(a); } + +export float4 sqrt(float4 a=float4(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(753) +]] +{ return math::sqrt(a); } + +export color sqrt(color a=color(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(754) +]] +{ return math::sqrt(a); } + +export float step( + float a=0. [[ + anno::description("Threshold value.") + ]], + float b=0. [[ + anno::description("Input compared against the threshold.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(760) +]] +{ return math::step(a,b); } + +export float2 step( + float2 a=float2(0.) [[ + anno::description("Threshold value per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(761) +]] +{ return math::step(a,b); } + +export float3 step( + float3 a=float3(0.) [[ + anno::description("Threshold value per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(762) +]] +{ return math::step(a,b); } + +export float4 step( + float4 a=float4(0.) [[ + anno::description("Threshold value per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(763) +]] +{ return math::step(a,b); } + +export float tan(float a=0.) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(770) +]] +{ return math::tan(a); } + +export float2 tan(float2 a=float2(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(771) +]] +{ return math::tan(a); } + +export float3 tan(float3 a=float3(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(772) +]] +{ return math::tan(a); } + +export float4 tan(float4 a=float4(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(773) +]] +{ return math::tan(a); } + +export float remap( + float a=0. [[ + anno::description("Input value in the source range.") + ]], + float start_old=0. [[ + anno::description("Lower bound of the source range.") + ]], + float end_old=1. [[ + anno::description("Upper bound of the source range.") + ]], + float start_new=0. [[ + anno::description("Lower bound of the destination range.") + ]], + float end_new=1. [[ + anno::description("Upper bound of the destination range.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(680) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float2 remap( + float2 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float2 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float2 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float2 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float2 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(681) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float3 remap( + float3 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float3 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float3 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float3 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float3 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(682) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float4 remap( + float4 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float4 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float4 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float4 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float4 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(683) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/psyonic_ability_hand_right_small/payloads/Physics/mujoco.usda b/psyonic_ability_hand_right_small/payloads/Physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..ac3578673b26a4c65dab442514c9338c0f2ae85d --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/Physics/mujoco.usda @@ -0,0 +1,691 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" +{ + over "base" + { + over "visuals" + { + over "wrist_mesh" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + + over "palm_mesh" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_2" ( + ) + { + } + } + } + } + } + } + + over "index_L1" + { + over "visuals" + { + over "index_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "joints" + { + over "index_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "index_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "middle_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "middle_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "pinky_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "pinky_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "ring_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "ring_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "thumb_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "thumb_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + } + + over "index_L2" + { + over "fsr0" + { + } + + over "fsr1" + { + } + + over "fsr2" + { + } + + over "fsr3" + { + } + + over "fsr4" + { + } + + over "fsr5" + { + } + + over "index_anchor" + { + } + + over "visuals" + { + over "index_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "middle_L1" + { + over "visuals" + { + over "middle_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "middle_L2" + { + over "fsr10" + { + } + + over "fsr11" + { + } + + over "fsr6" + { + } + + over "fsr7" + { + } + + over "fsr8" + { + } + + over "fsr9" + { + } + + over "middle_anchor" + { + } + + over "visuals" + { + over "middle_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "pinky_L1" + { + over "visuals" + { + over "pinky_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "pinky_L2" + { + over "fsr18" + { + } + + over "fsr19" + { + } + + over "fsr20" + { + } + + over "fsr21" + { + } + + over "fsr22" + { + } + + over "fsr23" + { + } + + over "pinky_anchor" + { + } + + over "visuals" + { + over "pinky_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "ring_L1" + { + over "visuals" + { + over "ring_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "ring_L2" + { + over "fsr12" + { + } + + over "fsr13" + { + } + + over "fsr14" + { + } + + over "fsr15" + { + } + + over "fsr16" + { + } + + over "fsr17" + { + } + + over "ring_anchor" + { + } + + over "visuals" + { + over "ring_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "thumb_L1" + { + over "visuals" + { + over "thumb_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_8" ( + ) + { + } + } + } + } + } + } + + over "thumb_L2" + { + over "fsr24" + { + } + + over "fsr25" + { + } + + over "fsr26" + { + } + + over "fsr27" + { + } + + over "fsr28" + { + } + + over "fsr29" + { + } + + over "thumb_anchor" + { + } + + over "visuals" + { + over "thumb_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_10" ( + ) + { + } + } + } + } + } + } + + over "root_joint" + { + } + + over "Looks" + { + } + + over "VisualMaterials" + { + } +} + diff --git a/psyonic_ability_hand_right_small/payloads/Physics/none.usda b/psyonic_ability_hand_right_small/payloads/Physics/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..980157bebb3a5660cdb4df3681290ba7df6fb0b2 --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/Physics/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_right_small/payloads/Physics/physics.usda b/psyonic_ability_hand_right_small/payloads/Physics/physics.usda new file mode 100644 index 0000000000000000000000000000000000000000..85e8be5aa3900a600d66dbdfaadf464eb04d7c68 --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/Physics/physics.usda @@ -0,0 +1,585 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" ( + prepend apiSchemas = ["MaterialBindingAPI"] +) +{ + rel material:binding:physics = + + over "base" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.00065452, -0.00598838, 0.05077265) + float3 physics:diagonalInertia = (0.0003769, 0.00047625, 0.00016893001) + float physics:mass = 0.37511 + quatf physics:principalAxes = (0.99636436, 0.08355953, -0.015764225, 0.0052371603) + rel physics:simulationOwner + + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "index_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "joints" + { + def PhysicsRevoluteJoint "index_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00028639444 + point3f physics:localPos0 = (-0.028, -0.009, 0.096) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.68592525, 0.046984136, -0.714476, -0.12970379) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "index_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.000028368644 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "middle_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00028220646 + point3f physics:localPos0 = (-0.008, -0.012, 0.099) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7045611, 0.07189584, -0.6983689, -0.10346699) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "middle_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.0000284562 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "pinky_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.0002635275 + point3f physics:localPos0 = (0.031, -0.007, 0.091) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7192458, 0.1222243, -0.68176734, -0.05422187) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "pinky_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.000025811863 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "ring_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00027439202 + point3f physics:localPos0 = (0.012, -0.01, 0.097) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7213953, 0.09878215, -0.6810987, -0.077041835) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "ring_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.000028514281 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "thumb_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00047244236 + point3f physics:localPos0 = (-0.024047667, 0.0037812474, 0.03232965) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.094797164, -0.044030096, 0.0041969586, -0.99451363) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -99.69465 + float physics:upperLimit = 0 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "thumb_q2" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00027644983 + point3f physics:localPos0 = (0.02782835, 1.7436511e-19, 0.0147507) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.6087614, 0.7933533, 2.1287735e-18, 1.6334654e-18) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "index_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639) + float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255) + rel physics:simulationOwner + + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "middle_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "middle_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639) + float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255) + rel physics:simulationOwner + + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "pinky_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "pinky_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.013324922, -0.008158947, -0.00004076896) + float3 physics:diagonalInertia = (1.697532e-7, 8.78977e-7, 8.9374424e-7) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.9739561, 0.007157835, -0.003735181, -0.22659291) + rel physics:simulationOwner + + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "ring_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "ring_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639) + float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255) + rel physics:simulationOwner + + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "thumb_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.01429402, -0.0018885, 0.00496979) + float3 physics:diagonalInertia = (7.780558e-8, 2.539683e-7, 2.406983e-7) + float physics:mass = 0.002 + quatf physics:principalAxes = (0.9624208, -0.078504354, -0.24595936, -0.08418586) + rel physics:simulationOwner + + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "thumb_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.027762456, 0.005621711, 0.0037611115) + float3 physics:diagonalInertia = (0.0000047610692, 0.000024948358, 0.00002585989) + float physics:mass = 0.06 + quatf physics:principalAxes = (0.9774349, 0.03599411, 0.0052931556, 0.20808075) + rel physics:simulationOwner + + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def PhysicsFixedJoint "root_joint" ( + prepend apiSchemas = ["PhysicsArticulationRootAPI"] + ) + { + rel physics:body1 = + bool physics:collisionEnabled = 0 + } + + def Material "PhysicsMaterial" ( + prepend apiSchemas = ["PhysicsMaterialAPI"] + ) + { + float physics:dynamicFriction = 4 + float physics:restitution = 0 + float physics:staticFriction = 4 + } +} + diff --git a/psyonic_ability_hand_right_small/payloads/Physics/physx.usda b/psyonic_ability_hand_right_small/payloads/Physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..adb4dfa6db5861d78511b7d545c6d1095dfcaee8 --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/Physics/physx.usda @@ -0,0 +1,130 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + subLayers = [ + @./physics.usda@ + ] + upAxis = "Z" +) + +def "ability_hand" +{ + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "index_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "middle_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "pinky_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "ring_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 2311.248 + } + + over "thumb_q2" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + } + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 1 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } + + over "PhysicsMaterial" ( + prepend apiSchemas = ["PhysxMaterialAPI"] + ) + { + uniform token physxMaterial:frictionCombineMode = "max" + } +} + diff --git a/psyonic_ability_hand_right_small/payloads/Robot/none.usda b/psyonic_ability_hand_right_small/payloads/Robot/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..980157bebb3a5660cdb4df3681290ba7df6fb0b2 --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/Robot/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_right_small/payloads/Robot/robot.usda b/psyonic_ability_hand_right_small/payloads/Robot/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..4c97936c7d3cf189cca48c8d40caa9fe0f1f13f3 --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/Robot/robot.usda @@ -0,0 +1,287 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "ability_hand" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string[] isaac:changelog + string isaac:description + token isaac:license + string isaac:namespace + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType + string isaac:source + string isaac:version + + over "base" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "index_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "index_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + } + + over "index_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "pinky_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "pinky_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } +} + diff --git a/psyonic_ability_hand_right_small/payloads/Sensor/none.usda b/psyonic_ability_hand_right_small/payloads/Sensor/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..980157bebb3a5660cdb4df3681290ba7df6fb0b2 --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/Sensor/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_right_small/payloads/Sensor/sensors.usda b/psyonic_ability_hand_right_small/payloads/Sensor/sensors.usda new file mode 100644 index 0000000000000000000000000000000000000000..912ec8511b4b723ee8f4faba7aa524f8221dded6 --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/Sensor/sensors.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_right_small/payloads/base.usda b/psyonic_ability_hand_right_small/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..f6af7c58389d595cc4fc56f2e8334f80044ce824 --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/base.usda @@ -0,0 +1,1296 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + subLayers = [ + @./robot.usda@ + ] + upAxis = "Z" +) + +def Xform "ability_hand" +{ + 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"] + + def Xform "base" + { + 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"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "wrist_mesh" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + + def Xform "palm_mesh" + { + token visibility = "inherited" + quatd xformOp:orient = (0.0442296601831913, 0.0006102907354943454, -0.9990212321281433, -0.000027017966203857213) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "palm_mesh_coll" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.0442296601831913, 0.0006102907354943454, -0.9990212321281433, -0.000027017966203857213) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + + def Xform "gripper_01" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.065 + custom float gripper_maxPayload = 0.4 + string isaac:Description = "Multi-finger hand grasp center" + token simready:attactment:socketType = "Gripper" + double3 xformOp:translate = (-0.01, 0.028, 0.09) + uniform token[] xformOpOrder = ["xformOp:translate"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0.035355, 0.035355)] + point3f[] points = [(0, 0, 0), (0, 0.035355, 0.035355)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, -0.017678, -0.017678), (0, 0.017678, 0.017678)] + point3f[] points = [(0, 0.017678, -0.017678), (0, -0.017678, 0.017678)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + } + + def Xform "index_L1" + { + quatd xformOp:orient = (0.6859252452850342, 0.04698413610458374, -0.7144759893417358, -0.12970378994941711) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.02800000086426735, -0.008999999612569809, 0.09600000083446503) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "index_mesh_1" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "index_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Scope "joints" + { + } + + def Xform "index_L2" + { + quatd xformOp:orient = (0.684699296951294, -0.2234230637550354, -0.6802687644958496, 0.13602709770202637) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.02973959967494011, -0.015294894576072693, 0.1340540498495102) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr0" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr1" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr2" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr3" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr4" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr5" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "index_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "index_mesh_2" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "index_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "middle_L1" + { + quatd xformOp:orient = (0.7045611143112183, 0.07189583778381348, -0.6983689069747925, -0.10346698760986328) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.00800000037997961, -0.012000000104308128, 0.0989999994635582) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "middle_mesh_1" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "middle_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "middle_L2" + { + quatd xformOp:orient = (0.6921801567077637, -0.19429698586463928, -0.6746382713317871, 0.16732728481292725) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.007730953861027956, -0.018318383023142815, 0.13708895444869995) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr10" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr11" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr6" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr7" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr8" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr9" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "middle_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "middle_mesh_2" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "middle_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "pinky_L1" + { + quatd xformOp:orient = (0.7192457914352417, 0.12222430109977722, -0.6817673444747925, -0.05422186851501465) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03099999949336052, -0.007000000216066837, 0.09099999815225601) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "pinky_mesh_1" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "pinky_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "pinky_L2" + { + quatd xformOp:orient = (0.6873977184295654, -0.14141085743904114, -0.6780475378036499, 0.21849222481250763) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.033192917704582214, -0.013271328061819077, 0.12903451919555664) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr18" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr19" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr20" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr21" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr22" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr23" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "pinky_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "pinky_mesh_2" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "pinky_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "ring_L1" + { + quatd xformOp:orient = (0.7213953137397766, 0.09878215193748474, -0.6810986995697021, -0.07704183459281921) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.012000000104308128, -0.009999999776482582, 0.09700000286102295) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "ring_mesh_1" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "ring_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "ring_L2" + { + quatd xformOp:orient = (0.6979194283485413, -0.16290467977523804, -0.6686668992042542, 0.19812890887260437) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014245127327740192, -0.016297917813062668, 0.13502708077430725) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr12" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr13" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr14" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr15" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr16" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr17" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "ring_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "ring_mesh_2" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "ring_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "thumb_L1" + { + quatd xformOp:orient = (0.09479716420173645, -0.044030096381902695, 0.004196958616375923, -0.9945136308670044) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "thumb_mesh_1" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "thumb_coll_mesh_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.6087613105773926, 0.7933534383773804, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.027828399091959, 0, 0.014750700443983078) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_8" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "thumb_L2" + { + quatd xformOp:orient = (0.09264028072357178, 0.048403818160295486, -0.7864457368850708, -0.6087512373924255) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.04996439814567566, -0.0014761881902813911, 0.04943762347102165) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr24" + { + quatd xformOp:orient = (0.40374043583869934, -0.8910711407661438, -0.18884731829166412, 0.08557149767875671) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.04746999964118004, 0.01988000050187111, -0.0012390000047162175) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr25" + { + quatd xformOp:orient = (0.7761160135269165, -0.5955318212509155, -0.12621015310287476, 0.1644894778728485) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.047210000455379486, 0.021239999681711197, 0.006438999902456999) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr26" + { + quatd xformOp:orient = (0.965203583240509, -0.15936213731765747, -0.03376941755414009, 0.2045615166425705) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.04896000027656555, 0.016540000215172768, 0.012409999966621399) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr27" + { + quatd xformOp:orient = (0.40374043583869934, -0.8910711407661438, -0.18884731829166412, 0.08557149767875671) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.037390001118183136, 0.015359999611973763, -0.0012890000361949205) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr28" + { + quatd xformOp:orient = (0.965203583240509, -0.15936213731765747, -0.03376941755414009, 0.2045615166425705) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03888000175356865, 0.012000000104308128, 0.012439999729394913) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr29" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.05590999871492386, 0.02160000056028366, 0.00558000011369586) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "thumb_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.0520012266933918, 0.02800869382917881, 0.006984835956245661) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "thumb_mesh_2" + { + token visibility = "inherited" + 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"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "thumb_hull_mesh_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (3.092890494826861e-7, -0.9852590560913086, -0.1710689812898636, 5.370137046156742e-8) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.06518670171499252, 0.023340199142694473, 0.0039348299615085125) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + 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 Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_10" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Scope "Looks" + { + } + + def Scope "VisualMaterials" + { + } +} + diff --git a/psyonic_ability_hand_right_small/payloads/geometries.usd b/psyonic_ability_hand_right_small/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..0c21b8d5805decdfe83c3a46f1edb294f0b7386d --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2713f7e042890752245eef94f25bc35542dc3d38df26b68df4e3304eb6d3667 +size 4140879 diff --git a/psyonic_ability_hand_right_small/payloads/instances.usda b/psyonic_ability_hand_right_small/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..37d5db1b6850d7563d8b68dd1ecdfe72c006a17f --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/instances.usda @@ -0,0 +1,467 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Instances" +{ + def Xform "mesh" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_2" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_3" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_4" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_5" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_5" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_6" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_6" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_7" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_7" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_8" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_8" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_9" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_9" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_10" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_10" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } +} + diff --git a/psyonic_ability_hand_right_small/payloads/materials.usda b/psyonic_ability_hand_right_small/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..e51a7d98196d1bc3880d060f33a50737be36c1d4 --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/materials.usda @@ -0,0 +1,170 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "DefaultMaterial" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "DefaultMaterial" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.49803925, 0.49803925, 0.49803925) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } +} + diff --git a/psyonic_ability_hand_right_small/payloads/robot.usda b/psyonic_ability_hand_right_small/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..1dc5b6db6fbd4b84270d355b37b4a91e6310145f --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/robot.usda @@ -0,0 +1,539 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string[] isaac:changelog + string isaac:description + token isaac:license + string isaac:namespace + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + , + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType = "End Effector" + string isaac:source + string isaac:version + + over "base" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "index_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "index_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + } + + over "index_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr0" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr2" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr3" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr4" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr5" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "index_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "middle_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr10" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr11" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr6" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr7" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr8" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr9" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "middle_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "pinky_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "pinky_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr18" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr19" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr20" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr21" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr22" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr23" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "pinky_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "ring_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr12" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr13" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr14" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr15" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr16" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr17" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "ring_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "thumb_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr24" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr25" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr26" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr27" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr28" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr29" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "thumb_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } +} + diff --git a/psyonic_ability_hand_right_small/runnables/physics/mujoco.usda b/psyonic_ability_hand_right_small/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..bef8f4cb6f53d1a8d0f8f112ff5d237655d034a8 --- /dev/null +++ b/psyonic_ability_hand_right_small/runnables/physics/mujoco.usda @@ -0,0 +1,428 @@ +#usda 1.0 +( + defaultPrim = "ability_hand" +) + +def "ability_hand" +{ + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "gripper_01" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "index_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "middle_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "pinky_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "ring_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "thumb_q2" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + def "MuJoCoActuators" + { + def MjcActuator "act_ability_hand_joints_index_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -10.255745043506646, -0.0041022981601429405] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_middle_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -10.105774579900677, -0.0040423097225705225] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_pinky_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -9.436883909197574, -0.0037747534035964705] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_ring_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -9.825940022057962, -0.003930376162235637] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_thumb_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -16.91809512127103, -0.006767238371341571] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 1.2000000476837158 + double mjc:forceRange:min = -1.2000000476837158 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_thumb_q2" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [8.466276571154594, -9.89963093301323, -0.003959852197114477] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } +} + diff --git a/psyonic_ability_hand_right_small/runnables/physics/newton.usda b/psyonic_ability_hand_right_small/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..61402c64197a661d97e29aaa4dd37529880d6515 --- /dev/null +++ b/psyonic_ability_hand_right_small/runnables/physics/newton.usda @@ -0,0 +1,370 @@ +#usda 1.0 +( + defaultPrim = "ability_hand" +) + +over "ability_hand" +{ + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "root_joint" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] + ) + { + bool newton:selfCollisionEnabled = 0 + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "index_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "middle_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "pinky_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00065 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "ring_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.146025 + float newton:damping = 0.003245 + float newton:velocityLimit = 2311.248 + } + + over "thumb_q2" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + } +} + diff --git a/psyonic_ability_hand_right_small/runnables/physics/physx.usda b/psyonic_ability_hand_right_small/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..439ae028961d2497effd1931bf7525bf894a8f0f --- /dev/null +++ b/psyonic_ability_hand_right_small/runnables/physics/physx.usda @@ -0,0 +1,374 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" +{ + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "index_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "middle_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "middle_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "pinky_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "pinky_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "ring_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "ring_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "thumb_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 2311.248 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "thumb_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } + + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } +} + diff --git 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b/robotiq_2f_140/.metadata/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..da6ab6cc8f333d7e89a99812866df8f24374d47c --- /dev/null +++ b/robotiq_2f_140/.metadata/license.txt @@ -0,0 +1,396 @@ +Attribution 4.0 International + +======================================================================= + +Creative Commons Corporation ("Creative Commons") is not a law firm and +does not provide legal services or legal advice. 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+ "unit": null + }, + "culling_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 183.766, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 29, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 11, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 11, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 11, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 10.047, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1435.29, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.688, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 44557, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 44860, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.139, + 0.1388, + 0.1387 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.0, + "unit": null + }, + "display_color_response_ratio": { + "value": 0.999955, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.999237, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 183.766, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 29, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 11, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 11, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 11, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 10.047, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1435.29, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.688, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 44557, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 44860, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.139, + 0.1388, + 0.1387 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.0, + "unit": null + }, + "display_color_response_ratio": { + "value": 0.999955, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.999237, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 9.0, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 1, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 5, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 5, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211071000834, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.938, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 938.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.265, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 1, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 1, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987756346371, + "start": 3.633823103532663e-11, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 29, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 6.343, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 1, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 5, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 5, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211007588825, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.407, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 203.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.516, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 1, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 1, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 7.5, + "damping": 0.0, + "max_force": 26.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987755982988, + "start": -6.83872734650952e-20, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 156, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 20.422, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 5, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 5, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211071000834, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "eff_force_point_observation": { + "value": { + "basis": "live child-body center of mass", + "unit": "native articulation world coordinates", + "joint": "finger_joint", + "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", + "direction": "-XZ", + "world_com": [ + 0.05294138565659259, + 0.05289376527070961, + 0.15000001784290032 + ] + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 4.437, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 369.75, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.969, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joints_tested": { + "value": 1, + "unit": null + }, + "eff_joints_passed": { + "value": 1, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "finger_joint", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", + "runtime_lower": 0.0, + "runtime_upper": 0.7853981852531433, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "effort_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 10.265, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 5, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 5, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211007588825, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.673, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 56.08, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.688, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "finger_joint", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "eff_joints_tested": { + "value": 1, + "unit": null + }, + "eff_joints_passed": { + "value": 1, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_failure_names": { + "value": [], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", + "runtime_lower": 0.0, + "runtime_upper": 0.7853981852531433, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 7.5, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "full_range_sweep", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 26.375, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 5.2, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 1248, + "planned_nominal_ticks_estimate": 1248, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 26.26500000001397, + "setup_elapsed_wall_seconds": 2.562000000034459, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3333.734999999986, + "observed_service_seconds_per_nominal_tick": 0.018992788461522043, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 17.733999999705702, + "attempts": 1248 + }, + "captures": { + "wall_seconds": 3.0630000001983717, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 0.31299999996554106, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.09199999994598329, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 0.18900000024586916, + "attempts": 1018 + }, + "commands": { + "wall_seconds": 0.17199999990407377, + "attempts": 1008 + }, + "encoding": { + "wall_seconds": 1.9690000000409782, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 6, + "unit": null + }, + "frs_joints_tested": { + "value": 1, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 5, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211071000834, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "frs_bbox_baseline_volume": { + "value": 0.0033423719326348537, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "finger_joint", + "segment": "to_max", + "requested_start": 1.3772914232712541e-11, + "observed_start": 1.3772914232712541e-11, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.2689280275926285, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.005642300562748645 + }, + { + "joint": "finger_joint", + "segment": "to_min", + "requested_start": 0.706858366727829, + "observed_start": 0.7068567276000977, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.2689280275926285, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.005015365194216415 + }, + { + "joint": "finger_joint", + "segment": "to_zero", + "requested_start": 0.07853981852531433, + "observed_start": 0.07854003459215164, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.2689280275926285, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0006269240094558537 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.063, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 340.33, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.969, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "frs_segment_timing_omitted": { + "value": 0, + "unit": null + }, + "frs_joints_passed": { + "value": 1, + "unit": null + }, + "frs_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_frs_joint_001": { + "value": { + "schema_version": 1, + "name": "frs_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "current sweep segment destination" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.7853981852531433, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 2.2689280275926285, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 252, + "json": "motion_history/frs_joint_001.json", + "csv": "motion_history/frs_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "full_range_sweep_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 11.734, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 5.233333333333333, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 1256, + "planned_nominal_ticks_estimate": 1728, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 11.640999999945052, + "setup_elapsed_wall_seconds": 4.780999999959022, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3348.359000000055, + "observed_service_seconds_per_nominal_tick": 0.005461783439479323, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 1.899000000441447, + "attempts": 1256 + }, + "captures": { + "wall_seconds": 0.609000000054948, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 0.469999999855645, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.17399999999906868, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 0.43500000005587935, + "attempts": 1026 + }, + "commands": { + "wall_seconds": 2.599999999627471, + "attempts": 1016 + }, + "encoding": { + "wall_seconds": 0.5779999999795109, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 6, + "unit": null + }, + "frs_joints_tested": { + "value": 1, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 5, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211007588825, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "frs_bbox_baseline_volume": { + "value": 0.0033423739018534552, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "finger_joint", + "segment": "to_max", + "requested_start": -1.8174535830497802e-19, + "observed_start": -1.8174535830497802e-19, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.268928050994873, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.005642300562858583 + }, + { + "joint": "finger_joint", + "segment": "to_min", + "requested_start": 0.706858366727829, + "observed_start": 0.7067551612854004, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.268928050994873, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.005014554469315868 + }, + { + "joint": "finger_joint", + "segment": "to_zero", + "requested_start": 0.07853981852531433, + "observed_start": 0.07863139361143112, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.268928050994873, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0006276532574478466 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.609, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 67.67, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.578, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "frs_segment_timing_omitted": { + "value": 0, + "unit": null + }, + "frs_joints_passed": { + "value": 1, + "unit": null + }, + "frs_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_frs_joint_001": { + "value": { + "schema_version": 1, + "name": "frs_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "current sweep segment destination" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.7853981852531433, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 2.268928050994873, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 7.5, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 254, + "json": "motion_history/frs_joint_001.json", + "csv": "motion_history/frs_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "gripper_close_lift_cube", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 53.14, + "message": "", + "metrics": { + "gripper_max_opening_m": { + "value": 0.14000000059604645, + "unit": null + }, + "gripper_max_payload_kg": { + "value": 2.0, + "unit": null + }, + 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force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "gripper_close_lift_sphere", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 59.469, + "message": "", + "metrics": { + "gripper_max_opening_m": { + "value": 0.14000000059604645, + "unit": null + }, + "gripper_max_payload_kg": { + "value": 2.0, + "unit": null + }, + "used_heuristic_payload": { + "value": false, + "unit": null + }, 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0.002, + "grasp_depth_search_attempts": 4, + "grasp_depth_search_step_radius_fraction": 0.5, + "open_position_tolerance": 0.005, + "close_settle_seconds": 0.3, + "lift_delta_z": 0.2, + "lift_duration_s": 1.0, + "lift_fps": 240, + "hold_duration_s": 1.0, + "enable_shake": true, + "shake_amplitude_m": 0.02, + "shake_frequency_hz": 2.0, + "shake_duration_s": 2.0, + "shake_min_z_threshold_m": 0.02, + "shake_max_relative_slip_m": 0.03, + "enable_drop": true, + "drop_wait_s": 1.0, + "drop_min_dz_m": 0.05, + "fall_min_delta_z": 0.05, + "horizontal_drift_max": 0.05, + "pre_load_max_dz": 0.01, + "carrier_translate_tolerance_m": 0.01, + "min_lift_for_eval_m": 0.1, + "jik_max_iterations": 80, + "jik_step_size": 0.05, + "jik_position_tolerance": 0.005, + "jik_rms_tolerance": 0.003, + "jik_contact_force_threshold_n": 0.5, + "max_close_frames": 1200, + "physics_fps": 240.0, + "carrier_merge_rail": true, + "detect_limit_inset_frac": 0.05 + }, + "joints": [ + { + "name": "finger_joint", + "dof_index": 1, + "role": "closure", + "open_target": 0.0, + "closed_target": 0.7853981852531433, + "close_delay_steps": 0, + "unit": "rad", + "identity_resolved": true + } + ], + "joints_omitted": 0, + "object_offset_world_xy_m": [ + 0.0, + 0.0 + ], + "grasp_center_base_m": null, + "approach_pitch_deg": null, + "descent_reference": "fingertips", + "transport_omissions": { + "joints": 0, + "hand_joint_controls": 0, + "hand_close_delays": 0, + "procedure_settings": 0 + } + }, + "unit": null + }, + "grasp_center_initial_z_sphere": { + "value": 0.18200000062584876, + "unit": null + }, + "approach_clearance_m_sphere": { + "value": 0.1280000004172325, + "unit": null + }, + "spawn_center_z_sphere": { + "value": 0.05400000020861625, + "unit": null + }, + "open_joint_actual_sphere": { + "value": 0.0001647362660150975, + "unit": null + }, + "open_joint_expected_sphere": { + "value": 0.0, + "unit": null + }, + "open_joint_worst_error_sphere": { + "value": 0.0001647362660150975, + "unit": null + }, + "measured_separation_after_open_sphere": { + "value": 0.0015143611485438865, + "unit": null + }, + "descent_total_sphere": { + "value": 0.13223774122171816, + "unit": null + }, + "descent_contacted_sphere": { + "value": false, + "unit": null + }, + "contact_backoff_m_sphere": { + "value": 0.0, + "unit": null + }, + "grasp_depth_search_m_sphere": { + "value": 0.0, + "unit": null + }, + "close_blocked_by_object_sphere": { + "value": true, + "unit": null + }, + "close_joint_actual_sphere_finger_joint": { + "value": 0.007612465415149927, + "unit": null + }, + "close_joint_fraction_sphere": { + "value": 0.00969249172977951, + "unit": null + }, + "object_lateral_drift_after_close_sphere": { + "value": 3.291483659427932e-11, + "unit": null + }, + "object_z_drift_from_spawn_after_close_sphere": { + "value": -0.00500000521540641, + "unit": null + }, + "grip_confirmed_contact_sphere": { + "value": true, + "unit": null + }, + "grip_object_retained_sphere": { + "value": true, + "unit": null + }, + "vertical_follow_dz_m_sphere": { + "value": 0.038948528468608856, + "unit": null + }, + "horizontal_drift_m_sphere": { + "value": 0.024124965915350474, + "unit": null + }, + "pre_load_dz_m_sphere": { + "value": 0.0, + "unit": null + }, + "shake_object_min_z_sphere": { + "value": 0.1886952519416809, + "unit": null + }, + "shake_max_relative_slip_m_sphere": { + "value": 0.00028070807456970215, + "unit": null + }, + "shake_passed_sphere": { + "value": true, + "unit": null + }, + "drop_pre_z_sphere": { + "value": 0.20868515968322754, + "unit": null + }, + "drop_post_z_sphere": { + "value": 0.04899999499320984, + "unit": null + }, + "drop_dz_sphere": { + "value": 0.1596851646900177, + "unit": null + }, + "drop_passed_sphere": { + "value": true, + "unit": null + }, + "winning_shape": { + "value": "sphere", + "unit": null + }, + "motion_history_gripper_sphere": { + "value": { + "schema_version": 1, + "name": "gripper_sphere", + "channels": { + "object_x": { + "unit": "stage_length", + "source": "existing runtime object pose accessor" + }, + "object_y": { + "unit": "stage_length", + "source": "existing runtime object pose accessor" + }, + "object_z": { + "unit": "stage_length", + "source": "existing runtime object pose accessor" + }, + "carrier_x": { + "unit": "stage_length", + "source": "carrier runtime world position" + }, + "carrier_y": { + "unit": "stage_length", + "source": "carrier runtime world position" + }, + "carrier_z": { + "unit": "stage_length", + "source": "carrier runtime world position" + }, + "relative_z": { + "unit": "stage_length", + "source": "object Z minus carrier Z; not baseline-corrected slip" + }, + "finger_separation": { + "unit": "stage_length", + "source": "runtime fingertip link separation" + } + }, + "metadata": { + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "clock_basis": "Kit timeline clock, not a solver execution clock", + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "capture_time_basis": "successful capture after retained observation; not encoded frame time/index", + "sample_stride": 4, + "sampling_basis": "every fourth callback and phase transitions" + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 508, + "json": "motion_history/gripper_sphere.json", + "csv": "motion_history/gripper_sphere.csv" + }, + "unit": null + }, + "motion_history_gripper_probe_joint_001": { + "value": { + "schema_version": 1, + "name": "gripper_probe_joint_001", + "channels": { + "target": { + "unit": "rad", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "rad", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "rad", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + }, + "dof_index": 1, + "trial_index": 0, + "trial_shape": "sphere", + "trial_number": 1, + "shape": "sphere", + "clock_basis": "Kit timeline clock, not a solver execution clock", + "observation_basis": "existing post-step joint readback; no additional physics ticks" + }, + "clock_source": "timeline", + "stop_reason": "mapping_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 90, + "json": "motion_history/gripper_probe_joint_001.json", + "csv": "motion_history/gripper_probe_joint_001.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_joint_000": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_joint_000", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + }, + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 408, + "json": "motion_history/gripper_sphere_joint_000.json", + "csv": "motion_history/gripper_sphere_joint_000.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_contacts": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_contacts", + "channels": { + "tip_000": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_001": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + } + }, + "metadata": { + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "tip_link_paths": [ + "/World/AssetRoot/Asset/left_inner_finger", + "/World/AssetRoot/Asset/right_inner_finger" + ], + "force_basis": "tip resultant contact force, not actuator torque or force", + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 75, + "json": "motion_history/gripper_sphere_contacts.json", + "csv": "motion_history/gripper_sphere_contacts.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "ground_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.328, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.39, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.234, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.391, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ik_target_reach", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ik_target_reach_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "jacobian_ik", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "jacobian_ik_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "joint_movement", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 436.796, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 39.073, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 868.29, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 5.125, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "jm_joint_finger_joint_rot_deg": { + "value": 56.49, + "unit": null + }, + "jm_joint_finger_joint_trans_pct": { + "value": 149.4, + "unit": null + }, + "jm_joint_finger_joint_bbox_m": { + "value": 0.0398, + "unit": null + }, + "jm_joint_finger_joint_translation_stage_units": { + "value": 0.05949235969999532, + "unit": null + }, + "jm_joint_finger_joint_bbox_diagonal_stage_units": { + "value": 0.0398199423001816, + "unit": null + }, + "jm_joint_finger_joint_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_finger_joint_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_finger_joint_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_finger_joint_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_finger_joint_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_finger_joint_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_finger_joint_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + 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"/World/AssetRoot/Asset/right_inner_finger_joint", + "child_body_path": "/World/AssetRoot/Asset/right_inner_finger", + "parent_body_path": "/World/AssetRoot/Asset/right_outer_finger", + "reference_frame": "/World/AssetRoot/Asset/right_outer_finger", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_003.json", + "csv": "motion_history/joint_movement_003.csv" + }, + "unit": null + }, + "motion_history_joint_movement_004": { + "value": { + "schema_version": 1, + "name": "joint_movement_004", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "right_inner_finger_pad_joint", + "authored_joint_name": "right_inner_finger_pad_joint", + "prim_path": "/World/AssetRoot/Asset/right_inner_finger_pad_joint", + "child_body_path": "/World/AssetRoot/Asset/right_inner_knuckle", + "parent_body_path": "/World/AssetRoot/Asset/right_inner_finger", + "reference_frame": "/World/AssetRoot/Asset/right_inner_finger", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_004.json", + "csv": "motion_history/joint_movement_004.csv" + }, + "unit": null + }, + "motion_history_joint_movement_005": { + "value": { + "schema_version": 1, + "name": "joint_movement_005", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "left_inner_finger_pad_joint", + "authored_joint_name": "left_inner_finger_pad_joint", + "prim_path": "/World/AssetRoot/Asset/left_inner_finger_pad_joint", + "child_body_path": "/World/AssetRoot/Asset/left_inner_knuckle", + "parent_body_path": "/World/AssetRoot/Asset/left_inner_finger", + "reference_frame": "/World/AssetRoot/Asset/left_inner_finger", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_005.json", + "csv": "motion_history/joint_movement_005.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "light_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 21.984, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 10.645, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 354.83, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.766, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.896552, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 26, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.864189, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.030391, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 21.984, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 10.645, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 354.83, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.766, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.896552, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + 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"/World/AssetRoot/Asset/right_inner_finger_pad_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.0, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_004.json", + "csv": "motion_history/mim_follower_004.csv" + }, + "unit": null + }, + "motion_history_mim_reference_005": { + "value": { + "schema_version": 1, + "name": "mim_reference_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "finger_joint", + "follower_joint_name": "left_inner_finger_pad_joint", + "gearing": 1.0, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 7.5, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_reference_005.json", + "csv": "motion_history/mim_reference_005.csv" + }, + "unit": null + }, + "motion_history_mim_follower_005": { + "value": { + "schema_version": 1, + "name": "mim_follower_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "rad", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "rad", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "rad", + "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "finger_joint", + "follower_joint_name": "left_inner_finger_pad_joint", + "gearing": 1.0, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "left_inner_finger_pad_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_inner_finger_pad_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.0, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_005.json", + "csv": "motion_history/mim_follower_005.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "multi_joint_coordination", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 4.547, + "message": "MJC: asset has only 1/6 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 6\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE:\n Driven joints: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET022_DrivenJoints.PhysX.md\n Articulation: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/base_articulation/requirements/has-articulation-root.md\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected variant's authored drives and joint limits)", + "metrics": { + "mjc_joints_without_safe_range": { + "value": [], + "unit": null + }, + "mjc_total_joints": { + "value": 6, + "unit": null + }, + "mjc_valid_joints": { + "value": 1, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "fewer_than_two_independent_coordinates", + "reason": "MJC: asset has only 1/6 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 6\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE:\n Driven joints: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET022_DrivenJoints.PhysX.md\n Articulation: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/base_articulation/requirements/has-articulation-root.md\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected variant's authored drives and joint limits)" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "multi_joint_coordination_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 5.235, + "message": "MJC: asset has only 1/6 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 6\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE: simready/foundation/tier_newton/runtime_tests/docs/runtime-tests.md; selected plan and Newton importer/actuator configuration.\n", + "metrics": { + "mjc_total_joints": { + "value": 6, + "unit": null + }, + "mjc_valid_joints": { + "value": 1, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "mjc_unbounded_nonangular_joints_skipped": { + "value": 0, + "unit": null + }, + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "fewer_than_two_independent_coordinates", + "reason": "MJC: asset has only 1/6 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 6\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE: simready/foundation/tier_newton/runtime_tests/docs/runtime-tests.md; selected plan and Newton importer/actuator configuration.\n" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 18.156, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.627, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 578.37, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.265, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 0.000866, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.003207, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 18.156, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.627, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 578.37, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.265, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 0.000866, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.003207, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 51.657, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.406, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1881.2, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 12, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 12, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 12, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 12, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 29, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 44663, + "unit": null + }, + "mtlx_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mtlx_surface_coverage": { + "value": 1.0, + "unit": null + }, + "mtlx_surface_materialx_validation": { + "value": "off", + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 51.657, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.406, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1881.2, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 12, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 12, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 12, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 12, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 29, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 44663, + "unit": null + }, + "mtlx_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mtlx_surface_coverage": { + "value": 1.0, + "unit": null + }, + "mtlx_surface_materialx_validation": { + "value": "off", + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 82.938, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 15.737, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 786.85, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.297, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.8, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": -149.7, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 0, + "unit": null + }, + "pivot_ground_penetration": { + "value": 0, + "unit": null + }, + "pivot_orbital_motion": { + "value": 1, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 82.938, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 15.737, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 786.85, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.297, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.8, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": -149.7, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 0, + "unit": null + }, + "pivot_ground_penetration": { + "value": 0, + "unit": null + }, + "pivot_orbital_motion": { + "value": 1, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 15.234, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.453, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1226.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.194488, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 15.234, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.453, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1226.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.194488, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 45.469, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 6.828, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1365.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 12, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 12, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 12, + "unit": null + }, + "universal_surface_materials_total": { + "value": 12, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 29, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 44439, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 45.469, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 6.828, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1365.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 12, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 12, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 12, + "unit": null + }, + "universal_surface_materials_total": { + "value": 12, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 29, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 44439, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.281, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.453, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "state_accuracy", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 11.312, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 5, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211071000834, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.813, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 10, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 381.3, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 1, + "unit": null + }, + "sta_joints_passed": { + "value": 1, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 1.810000129989768e-05, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "state_accuracy_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 24.718, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 5, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211007588825, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.0, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 10, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 100.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.61, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 1, + "unit": null + }, + "sta_joints_passed": { + "value": 1, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 0.06964099297559098, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 7.5, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 169, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "velocity_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 6.672, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 5, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 5, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 1, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211347372104, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.485, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 485.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.75, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 1, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 6, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "velocity_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 6.859, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 5, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 5, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 1, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211007588825, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.547, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 273.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.5, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 1, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 7.5, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + } + ] +} diff --git a/robotiq_2f_140/.metadata/robotiq_2f_140_validation.json b/robotiq_2f_140/.metadata/robotiq_2f_140_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..3187562dc71a01008b97346f0d61785b0d48d48c --- /dev/null +++ b/robotiq_2f_140/.metadata/robotiq_2f_140_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/2F_140.usda": { + "features_summary": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET028_Gripper.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + } + }, + "profile_id": "Robot-Gripper", + "profile_version": "3.0.0", + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } + } +} diff --git a/robotiq_2f_140/.thumbs/256x256/2F_140.usda.png b/robotiq_2f_140/.thumbs/256x256/2F_140.usda.png new file mode 100644 index 0000000000000000000000000000000000000000..73b88d3522dfc96c867ba8114b0278f3fe7746f3 --- /dev/null +++ b/robotiq_2f_140/.thumbs/256x256/2F_140.usda.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99597e99c879ae2b6658169f5b78dba72f71a6415c0c4e9065a9cba902d78fae +size 45745 diff --git a/robotiq_2f_140/2F_140.usda b/robotiq_2f_140/2F_140.usda new file mode 100644 index 0000000000000000000000000000000000000000..19bb24ea8eac4eda5c44b6b9d266970a24ae1164 --- /dev/null +++ b/robotiq_2f_140/2F_140.usda @@ -0,0 +1,1936 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_140" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_140" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_140" + string variantSetName = "PhysX" + } + } + } + string[] revision_of = [ + "simready.hf.Robotiq-Official.simready-assets.Robotiq_2F_140.2026.10.12_00", + "simready.hf.Robotiq-Official.simready-assets.Robotiq_2F_140.2026.10.22_00", + "simready.hf.Robotiq-Official.simready-assets.Robotiq_2F_140.2026.10.30_00" + ] + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + dictionary "2026-11-01" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.21090108, 0.21130733, 0.075) + string asset_license = "CC-BY-4.0" + string asset_name = "Robotiq_2F_140" + string asset_type = "robot" + string author = "Robotiq" + string category = "robot end effector" + double mass = 0.45186075009405613 + string qcode = "Q1340324" + int rigid_body_count = 9 + string source_file = "Robotiq/2F-140/Robotiq_2F_140.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "Robotiq_2F_140" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +def Xform "Robotiq_2F_140" ( + kind = "component" + prepend references = [ + @./payloads/Physics/physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + } + prepend variantSets = ["PhysX", "Newton", "MuJoCo"] +) +{ + reorder nameChildren = ["robotiq_base_link", "left_outer_knuckle", "left_outer_finger", "left_inner_finger", "left_inner_knuckle", "right_outer_knuckle", "right_outer_finger", "right_inner_finger", "right_inner_knuckle"] + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "robotiq_base_link" + { + over "_F_Body_01" + { + over "_F_Body" ( + instanceable = false + ) + { + over "_F_Body" + { + float3[] extent = [(-0.04244335, -0.0033564342, -0.0375), (0.042443354, 0.09, 0.0375)] + } + } + } + } + + over "left_outer_knuckle" + { + over "Finger1" ( + instanceable = false + ) + { + over "Finger1" + { + float3[] extent = [(-0.06801494, 0.044373713, -0.0047), (-0.03498509, 0.064530514, 0.0047)] + } + } + } + + over "left_outer_finger" + { + over "Finger2" ( + instanceable = false + ) + { + over "Finger2" + { + float3[] extent = [(-0.105653666, 0.04403517, -0.0136), (-0.047659468, 0.13526823, 0.0136)] + } + } + } + + over "left_inner_finger" + { + over "Fingertip_01" + { + over "Fingertip" ( + instanceable = false + ) + { + over "Fingertip" + { + float3[] extent = [(-0.091355085, 0.14228664, -0.011), (-0.072197594, 0.20778665, 0.011)] + } + } + } + + over "Finger4_01" + { + over "Finger4" ( + instanceable = false + ) + { + over "Finger4" + { + float3[] extent = [(-0.10343339, 0.123293996, -0.0135), (-0.07355508, 0.15128665, 0.0135)] + } + } + } + } + + over "left_inner_knuckle" + { + over "Finger3" ( + instanceable = false + ) + { + over "Finger3" + { + float3[] extent = [(-0.085554935, 0.055458643, -0.0175), (-0.0067001586, 0.141748, 0.0175)] + } + } + } + + over "right_outer_knuckle" + { + over "Finger1" ( + instanceable = false + ) + { + over "Finger1" + { + float3[] extent = [(-0.06801494, 0.044373713, -0.0047), (-0.03498509, 0.064530514, 0.0047)] + } + } + } + + over "right_outer_finger" + { + over "Finger2" ( + instanceable = false + ) + { + over "Finger2" + { + float3[] extent = [(-0.105653666, 0.04403517, -0.0136), (-0.047659468, 0.13526823, 0.0136)] + } + } + } + + over "right_inner_finger" + { + over "Finger4_01" + { + over "Finger4" ( + instanceable = false + ) + { + over "Finger4" + { + float3[] extent = [(-0.10343339, 0.123293996, -0.0135), (-0.07355508, 0.15128665, 0.0135)] + } + } + } + + over "Fingertip_01" + { + over "Fingertip" ( + instanceable = false + ) + { + over "Fingertip" + { + float3[] extent = [(-0.091355085, 0.14228664, -0.011), (-0.072197594, 0.20778665, 0.011)] + } + } + } + } + + over "right_inner_knuckle" + { + over "Finger3" ( + instanceable = false + ) + { + over "Finger3" + { + float3[] extent = [(-0.085554935, 0.055458643, -0.0175), (-0.0067001586, 0.141748, 0.0175)] + } + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/robotiq_2f_140/com.nvidia.simready.packaging.json b/robotiq_2f_140/com.nvidia.simready.packaging.json new file mode 100644 index 0000000000000000000000000000000000000000..a14c556aa6971d7e47af538be89142b3afb73ee0 --- /dev/null +++ b/robotiq_2f_140/com.nvidia.simready.packaging.json @@ -0,0 +1,49 @@ +{ + "format_version": "1.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.robotiq_2f_140.1.0.0", + "license": "CC-BY-4.0", + "metadata": [ + { + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "hash": { + "sha256": "77d9c60f7f6de01cca7d93c0885a1c4988c7644c438f625523610a8eab832bf0" + } + }, + { + "name": "com.nvidia.simready.packaging.bom.json", + "hash": { + "sha256": "a69916dd00bd718f1eac0214b497b66bc2a4624a6049cb542cee310499d2d2b5" + } + }, + { + "name": "com.nvidia.simready.root_usds.json", + "hash": { + "sha256": "fc84c7dbbe44527011eb0478185ab73cb15dea87f3f2b8417ef984d5f264ecb9" + } + }, + { + "name": "license.txt", + "hash": { + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + } + }, + { + "name": "robotiq_2f_140_benchmark.json", + "hash": { + "sha256": "6f71244e2a67b144ae31ff529190601b1060addcbc1030fc57665cb81e8aae3b" + } + }, + { + "name": "robotiq_2f_140_validation.json", + "hash": { + "sha256": "4ece653d0059fd56bf0554822a8421f3e07f66727b745dd65bf8018efbe91cbb" + } + } + ], + "content_hash": { + "sha256": "20fd0c774ae5b7393a6043920e90c4c253e6c12ff3ccce0600f8464f814fed52" + }, + "package_hash": { + "sha256": "6d9dc2ae2de41015a4e16a7abdfbd743f59a40f558a42b1878fa65b1276a6c28" + } +} diff --git a/robotiq_2f_140/materials/mdl/OmniPBR.mdl b/robotiq_2f_140/materials/mdl/OmniPBR.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bcd0685466a09006ac9e009969d32de43d6d04d9 --- /dev/null +++ b/robotiq_2f_140/materials/mdl/OmniPBR.mdl @@ -0,0 +1,396 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBR_ClearCoat::*; + + +// OmniPBR // + +export material OmniPBR( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity") + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls the repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls the repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 2), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] = let { + +material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( + diffuse_color_constant: diffuse_color_constant, + diffuse_texture: diffuse_texture, + albedo_desaturation: albedo_desaturation, + albedo_add: albedo_add, + albedo_brightness: albedo_brightness, + diffuse_tint: diffuse_tint, + reflection_roughness_constant: reflection_roughness_constant, + reflection_roughness_texture_influence: reflection_roughness_texture_influence, + reflectionroughness_texture: reflectionroughness_texture, + metallic_constant: metallic_constant, + metallic_texture_influence: metallic_texture_influence, + metallic_texture: metallic_texture, + specular_level: specular_level, + enable_ORM_texture: enable_ORM_texture, + ORM_texture: ORM_texture, + ao_to_diffuse: ao_to_diffuse, + ao_texture: ao_texture, + enable_emission: enable_emission, + emissive_color: emissive_color, + emissive_color_texture: emissive_color_texture, + emissive_mask_texture: emissive_mask_texture, + emissive_intensity: emissive_intensity, + enable_opacity: enable_opacity, + opacity_texture: opacity_texture, + opacity_constant: opacity_constant, + enable_opacity_texture: enable_opacity_texture, + opacity_mode: opacity_mode, + opacity_threshold: opacity_threshold, + geometry_normal_roughness_strength: geometry_normal_roughness_strength, + bump_factor: bump_factor, + normalmap_texture: normalmap_texture, + detail_bump_factor: detail_bump_factor, + detail_normalmap_texture: detail_normalmap_texture, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v, + project_uvw: project_uvw, + world_or_object: world_or_object, + uv_space_index: uv_space_index, + texture_translate: texture_translate, + texture_rotate: texture_rotate, + texture_scale: texture_scale, + detail_texture_translate: detail_texture_translate, + detail_texture_rotate: detail_texture_rotate, + detail_texture_scale: detail_texture_scale, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials +); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/robotiq_2f_140/materials/mdl/OmniPBRBase.mdl b/robotiq_2f_140/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/robotiq_2f_140/materials/mdl/OmniPBRBase.mdl @@ -0,0 +1,470 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +import ::anno::*; + +export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ + anno::hidden() +]] +{ + Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; + float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); + return math::normalize(N); +} + +export struct NormalData [[ + anno::hidden() +]] +{ + float3 normal; + float2 roughness; +}; + +export NormalData tangent_space_normal_roughness_texture( + uniform texture_2d texture + [[ + anno::description("The input texture"), + anno::usage("normal") + ]], + uniform float factor = 1.0f + [[ anno::description("Determines the degree of bumpiness") ]], + uniform bool flip_tangent_u = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + uniform bool flip_tangent_v = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + base::texture_coordinate_info uvw = base::texture_coordinate_info() + [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], + uniform float2 crop_u = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], + uniform float2 crop_v = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], + uniform tex::wrap_mode wrap_u = tex::wrap_repeat + [[ anno::description("Wrapping mode in the u direction") ]], + uniform tex::wrap_mode wrap_v = tex::wrap_repeat + [[ anno::description("Wrapping mode in the v direction") ]], + uniform bool clip = false + [[ + anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), + anno::hidden() + ]], + uniform float scale = 1. + [[ + anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float offset = 0. + [[ + anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float animation_start_time = 0. + [[ anno::description("When to start playing first frame of the animation ") ]], + uniform int2 animation_crop = int2(0, 0) + [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], + uniform tex::wrap_mode animation_wrap = tex::wrap_repeat + [[ anno::description("Defines what to do outside of regular animation time") ]], + uniform float animation_fps = 30 + [[ anno::description("Framerate to use for animation playback") ]] +) +[[ + anno::description("Interprets the color values of a bitmap as a vector in tangent space"), + anno::hidden(), + anno::noinline() +]] +{ + NormalData normalData; + normalData.roughness = float2(0); + normalData.normal = state::normal(); + + float frame = 0.0; + if(animation_crop != int2(0,0)) //only if we have an animation + { + frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation + switch ( animation_wrap) { + case tex::wrap_repeat: + frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: + math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; + break; + case tex::wrap_mirrored_repeat: + float animation_crop_2y = 2.0*animation_crop.y; + frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: + math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; + if(frame>animation_crop.y) + frame = animation_crop_2y-frame; + break; + case tex::wrap_clamp: + frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); + break; + case tex::wrap_clip: + frame += animation_crop.x; + if(frame < animation_crop.x || frame > animation_crop.y) return normalData; + break; + } + } + + if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource + factor == 0.0f) + return normalData; + { + if (clip) { + if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + bool pixel_flip_u = flip_tangent_u; + bool pixel_flip_v = flip_tangent_v; + //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile + if (wrap_u == tex::wrap_mirrored_repeat) { + if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) + pixel_flip_u = ! pixel_flip_u; + else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) + pixel_flip_u = ! pixel_flip_u; + } + if (wrap_v == tex::wrap_mirrored_repeat) { + if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) + pixel_flip_v = ! pixel_flip_v; + else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) + pixel_flip_v = ! pixel_flip_v; + } + + float3 transformed_tangent_u = uvw.tangent_u; + float3 transformed_tangent_v = uvw.tangent_v; + + if (pixel_flip_u) + transformed_tangent_u=-transformed_tangent_u; + if (pixel_flip_v) + transformed_tangent_v=-transformed_tangent_v; + + float3 tangent_space_normal; + float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); + if(normal_raw.x > 1.5) + { + // octahedron packed by OV + normal_raw.x -= 2.0; + normal_raw.x -= 0.5; + normal_raw.y -= 0.5; + tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); + normalData.roughness = float2(normal_raw.z, normal_raw.w); + } + else + { + // regular + tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; + normalData.roughness = float2(0); + } + + normalData.normal = math::normalize( + transformed_tangent_u * tangent_space_normal.x * factor + + transformed_tangent_v * tangent_space_normal.y * factor + + state::normal() * tangent_space_normal.z); + + return normalData; +} + + +export material OmniPBRBase( + + + // Albdeo // + + color diffuse_reflection_color = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Albedo Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflecitivity // + + float specular_reflection_roughness = float(0.0) [[ + anno::display_name("Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hidden() + ]], + float metalness = float(0.0) [[ + anno::display_name("Metalness"), + anno::description("Bias towards pure specular reflection"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(0.0, 1.0) + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emission_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + float emission_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::soft_range(0.0, 1000.0), + anno::enable_if("enable_emission == true") + ]], + + + // Geometry Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + float geometry_opacity = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + uniform float geometry_opacity_threshold = 0.f + [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + + + // Clearcoat // + + uniform bool enable_coat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a coat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float coat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for coat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + color coat_color = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float coat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float coat_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float2 coat_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Clearcoat aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hidden() + ]], + float coat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the coat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(0.0, 4.0) + ]], + float3 clearcoat_geometry_normal = state::normal() [[ + anno::display_name("Clearcoat Normal"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]], + float3 geometry_normal = state::normal() [[ + anno::display_name("Geometry Normal"), + anno::in_group("Geometry"), + anno::usage("normal") + ]] + +) +[[ + anno::display_name("OmniPBR Base"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Omni Materials"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = let{ + + // Diffuse Bsdf // + + color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; + + color base_color = tinted_diffuse_color; + + bsdf diffuse_bsdf = df::weighted_layer( + weight: 1.0, + layer: df::diffuse_reflection_bsdf( + tint: base_color, + roughness: float(0.0) + ), + base: bsdf(), + normal: geometry_normal + ); + + // Glossy Reflection Bsdf // + + float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); + float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); + bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: roughness_u, + roughness_v: roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf custom_curve_layer_bsdf = df::custom_curve_layer( + normal_reflectivity: 0.08, + grazing_reflectivity: 1.0, + exponent: 5.0, + weight: specular_level, + layer: ggx_smith_bsdf, + base: diffuse_bsdf, + normal: geometry_normal + ); + + bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); + + bsdf omni_PBR_bsdf = df::weighted_layer( + weight: metalness, + layer: directional_factor_bsdf, + base: custom_curve_layer_bsdf, + normal: geometry_normal + ); + + // Clear Coat // + + float coat_roughness_u = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); + float coat_roughness_v = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); + bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: coat_roughness_u, + roughness_v: coat_roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf opaque_coat = df::weighted_layer( + weight: coat_transparency, + layer: ::df::tint( + tint: coat_color, + base: omni_PBR_bsdf + ), + base: ::df::diffuse_reflection_bsdf( + tint: coat_color + ) + ); + + bsdf omni_PBR_coated_bsdf = df::fresnel_layer( + ior: coat_ior, + weight: coat_weight, + layer: coat_bsdf, + base: opaque_coat, + normal: clearcoat_geometry_normal + ); + + bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; + + color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); + + float opacity_value = geometry_opacity; + float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; + + material_emission emission = material_emission( + df::diffuse_edf(), + intensity: emission_value + ); + + material_surface surface = material_surface( + scattering: final_bsdf, + emission: emission + ); + + material_geometry geometry = material_geometry( + normal: state::rounded_corner_normal( + radius: round_edges_radius, + across_materials: round_edges_across_materials, + roundness: round_edges_roundness + ), + cutout_opacity: cutout_opacity + ); + +} in material( + surface: surface, + geometry: geometry +); diff --git a/robotiq_2f_140/materials/mdl/OmniPBR_ClearCoat.mdl b/robotiq_2f_140/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/robotiq_2f_140/materials/mdl/OmniPBR_ClearCoat.mdl @@ -0,0 +1,711 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBRBase::*; + +// Functions // + + +// Returns a matrix from R,T,S. inputs // + +uniform float4x4 rotation_translation_scale( + uniform float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + uniform float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + uniform float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct a transformation matrix from euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0.0 , 0.0 , 0.0, + 0.0 , scaling.y , 0.0 , 0.0, + 0.0 , 0.0 , scaling.z , 0.0, + translation.x , translation.y , translation.z , 1.0); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0.0 , 0.0 , 0 , 1.0); + + return scale * rotate; +} + +// Returns the normal n in tangent space, given n is in internal space. // + +float3 transform_internal_to_tangent(float3 n) +{ + /* flip_tangent_v */ + return + n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ + n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ + n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); +} + +// Returns the normal n in internal space, given n is in tangent space. +float3 transform_tangent_to_internal(float3 n) +{ + return state::texture_tangent_u(0) * n.x - + state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ + state::normal() * n.z; +} + +// Returns a normal by adding a detail normal to a global normal. +export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) +{ + // http://blog.selfshadow.com/publications/blending-in-detail/ + float3 n_t = transform_internal_to_tangent(n); + float3 nd_t = transform_internal_to_tangent(nd); + n_t = n_t + float3(0.,0.,1.); + nd_t = nd_t * float3(-1.,-1.,1.); + n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; + return math::normalize(transform_tangent_to_internal(n)); +} + +base::texture_return multiply_colors( + color color_1 = color(1.0, 1.0, 1.0), + color color_2 = color(.5, .5, .5), + float weight = 1.0 + ) +[[ + anno::hidden() +]] +{ + return base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: color_2, + weight: weight, + mode: base::color_layer_multiply + )), + base: color_1 + ); +} + + +// OmniPBR Clearcoat // + +export material OmniPBR_ClearCoat( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Clearcoat // + + uniform bool enable_clearcoat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a clearcoat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float clearcoat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for clearcoat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + color clearcoat_tint = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float clearcoat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_reflection_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the clearcoat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(4.0)) + ]], + uniform float clearcoat_bump_factor = float(1.0) [[ + anno::display_name("Clearcoat Normal Map Strength"), + anno::description("Strength of normal map."), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ + anno::display_name("Clearcoat Normal Map"), + anno::description("Enables the usage of the normalmap texture"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + uniform float2 clearcoat_texture_translate = float2(0.0) [[ + anno::display_name("Clearcoat Texture Translate"), + anno::description("Controls the position of the clearcoat texture"), + anno::ui_order(1), + anno::in_group("UV") + ]], + uniform float clearcoat_texture_rotate = float(0.0) [[ + anno::display_name("Clearcoat Texture Rotate"), + anno::description("Rotates angle of the clearcoat texture in degrees"), + anno::ui_order(2), + anno::in_group("UV") + ]], + uniform float2 clearcoat_texture_scale = float2(1.0) [[ + anno::display_name("Clearcoat Texture Tiling"), + anno::description("Controls the repetition of the clearcoat texture"), + anno::ui_order(3), + anno::in_group("UV") + ]], + float clearcoat_flatten = float(1.0) [[ + anno::display_name("Clearcoat Flatten"), + anno::description("Flattens the clearcoat to even out the underlying bump maps"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR ClearCoat "), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) +]] = let { + + // UVW lookup and transformation // + base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; + + base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( + coordinate_system: the_system, + texture_space: uv_space_index, + projection_type: base::projection_cubic + ) : + base::coordinate_source( + coordinate_system: base::texture_coordinate_uvw, + texture_space: uv_space_index + ); + + base::texture_coordinate_info transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(texture_scale.x, texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), + translation: float3(texture_translate.x, texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), + translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), + translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) + ), + coordinate: uvw + ); + + // Normal calculations // + OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); + + OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: normalmap_texture, + factor: bump_factor, + uvw: transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + //flip_tangent_v: true + + ) : defaultData; + float3 the_normal = normal_data.normal; + + OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: detail_normalmap_texture, + factor: detail_bump_factor, + uvw: detail_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 detail_normal = detail_normal_data.normal; + + OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: clearcoat_normalmap_texture, + factor: clearcoat_bump_factor, + uvw: clearcoat_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 clearcoat_normal = clearcoat_normal_data.normal; + + + float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; + float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); + float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) + : flattened_clearcoat_normal; + + + // ORM Handling // + + float3 ORM_lookup = tex::lookup_float3( + tex: ORM_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + + float3 roughness_lookup = tex::lookup_float3( + tex: reflectionroughness_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; + float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); + float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), + math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); + + float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), + math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); + + // Diffuse Color Lookup and AO // + + base::texture_return base_lookup = base::file_texture( + texture: diffuse_texture, + color_offset: color(albedo_add), + color_scale: color(albedo_brightness), + mono_source: base::mono_luminance, + uvw: transformed_uvw, + clip: false + ); + + base::texture_return ao_lookup = base::file_texture( + texture: ao_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ); + + + color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; + color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); + color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; + color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; + + color base_color = multiply_colors( + color_1: tinted_diffuse, + color_2: ao_color, + weight: ao_to_diffuse + ).tint; + + + // Metalness // + + float3 metallic_lookup = tex::lookup_float3( + tex: metallic_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; + float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); + + + // Emission // + + color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? + base::file_texture( + texture: emissive_color_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : emissive_color; + + color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? + base::file_texture( + texture: emissive_mask_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : color(1.0); + + color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); + + // Opacity // + + float opacity_value = enable_opacity_texture ? base::file_texture( + texture: opacity_texture, + mono_source: opacity_mode, + uvw: transformed_uvw + ).mono : opacity_constant; + + float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; + + material base = OmniPBRBase::OmniPBRBase( + diffuse_reflection_color: base_color, + specular_reflection_aniso_roughness: reflection_roughness, + specular_level: specular_level, + metalness: metallic, + enable_emission: enable_emission, + emission_color: final_emission_color, + emission_intensity: emissive_intensity, + enable_coat: enable_clearcoat, + coat_weight: clearcoat_weight, + coat_color: clearcoat_tint, + coat_transparency: clearcoat_transparency, + coat_aniso_roughness: clearcoat_reflection_roughness2, + coat_ior: clearcoat_ior, + enable_opacity: enable_opacity, + geometry_opacity: cutout_opacity, + clearcoat_geometry_normal: final_clearcoat_normal, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials, + geometry_normal: diffuse_gloss_normal + ); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/robotiq_2f_140/materials/mdl/aux_definitions.mdl b/robotiq_2f_140/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/robotiq_2f_140/materials/mdl/aux_definitions.mdl @@ -0,0 +1,3464 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +mdl 1.4; + +import ::anno::*; +export using ::base import texture_return; + +module +[[ + anno::version( 1, 2, 0), + anno::hidden(), + anno::display_name("NVIDIA auxillary definitions") +]]; + +// Support functions to simplify conversions between vector types with swizzles +// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) +// Supported return types: float, float2, float3 color + + +export annotation icon(string path); + + +//*********************************************************************************************************************** +// Constructor wrappers + +export float construct_float( + texture_return a [[ + anno::description("Input texture sample container; the mono channel is returned.") + ]]) +[[ + anno::display_name("Float from texture_return"), + anno::description("Constructs a float from the mono channel of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float"), + icon(".icons/constructor.svg"), + anno::ui_order(10000) +]] +{ return a.mono; } + +export color construct_color( + float a [[ + anno::description("Scalar value replicated into all color channels.") + ]]) +[[ + anno::display_name("Color from float"), + anno::description("Constructs a color from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10001) +]] +{ return color(a); } + +export color construct_color( + float3 a [[ + anno::description("RGB source components.") + ]]) +[[ + anno::display_name("Color from float3"), + anno::description("Constructs a color from a float3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10002) +]] +{ return color(a); } + +export color construct_color( + float r [[ + anno::description("Red channel value.") + ]], + float g [[ + anno::description("Green channel value.") + ]], + float b [[ + anno::description("Blue channel value.") + ]]) +[[ + anno::display_name("Color from floats"), + anno::description("Constructs a color from explicit red, green, and blue components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10003) +]] +{ return color(r,g,b); } + +export color construct_color( + texture_return a [[ + anno::description("Input texture sample container; the tint (RGB) channels are returned.") + ]]) +[[ + anno::display_name("Color from texture_return"), + anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10004) +]] +{ return a.tint; } + +export float4 construct_float4( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from floats"), + anno::description("Constructs a float4 from explicit x, y, z, and w components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10005) +]] +{ return float4(x,y,z,w); } + +export float4 construct_float4( + float3 xyz [[ + anno::description("Source xyz components.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from float3,float"), + anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10006) +]] +{ return float4(xyz.x,xyz.y,xyz.z,w); } + +export float3 construct_float3( + color a [[ + anno::description("Input color whose RGB channels are converted to float3.") + ]]) +[[ + anno::display_name("Float3 from color"), + anno::description("Constructs a float3 from a color value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10007) +]] +{ return float3(a); } + +export float3 construct_float3( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]]) +[[ + anno::display_name("Float3 from floats"), + anno::description("Constructs a float3 from explicit x, y, and z components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10008) +]] +{ return float3(x,y,z); } + +export float3 construct_float3( + int3 a [[ + anno::description("Input int3 converted component-wise to float3.") + ]]) +[[ + anno::display_name("Float3 from int3"), + anno::description("Constructs a float3 from an int3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10009) +]] +{ return float3(a); } + +export float2 construct_float2( + float a [[ + anno::description("Scalar value replicated into both components.") + ]]) +[[ + anno::display_name("Float2 from float"), + anno::description("Constructs a float2 from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10010) +]] +{ return float2(a); } + +export float2 construct_float2( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]]) +[[ + anno::display_name("Float2 from floats"), + anno::description("Constructs a float2 from explicit x and y components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10011) +]] +{ return float2(x,y); } + +export float2 construct_float2( + int2 a [[ + anno::description("Input int2 converted component-wise to float2.") + ]]) +[[ + anno::display_name("Float2 from int2"), + anno::description("Constructs a float2 from an int2 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10012) +]] +{ return float2(a); } + +export int3 construct_int3( + int a [[ + anno::description("Scalar value replicated into all int3 components.") + ]]) +[[ + anno::display_name("Int3 from int"), + anno::description("Constructs an int3 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int3"), + icon(".icons/constructor.svg"), + anno::ui_order(10013) +]] +{ return int3(a); } + +export int2 construct_int2( + int a [[ + anno::description("Scalar value replicated into both int2 components.") + ]]) +[[ + anno::display_name("Int2 from int"), + anno::description("Constructs an int2 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int2"), + icon(".icons/constructor.svg"), + anno::ui_order(10014) +]] +{ return int2(a); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float return type + +export float x( float2 a) +[[ + anno::display_name("X from float2"), + anno::description("Returns x from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11000) +]] +{ return a.x; } + +export float y( float2 a) +[[ + anno::display_name("Y from float2"), + anno::description("Returns y from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11010) +]] +{ return a.y; } + +export float x( float3 a) +[[ + anno::display_name("X from float3"), + anno::description("Returns x from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11001) +]] +{ return a.x; } + +export float y( float3 a) +[[ + anno::display_name("Y from float3"), + anno::description("Returns y from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11011) +]] +{ return a.y; } + +export float z( float3 a) +[[ + anno::display_name("Z from float3"), + anno::description("Returns z from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11020) +]] +{ return a.z; } + +export float x( float4 a) +[[ + anno::display_name("X from float4"), + anno::description("Returns x from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11002) +]] +{ return a.x; } + +export float y( float4 a) +[[ + anno::display_name("Y from float4"), + anno::description("Returns y from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11012) +]] +{ return a.y; } + +export float z( float4 a) +[[ + anno::display_name("Z from float4"), + anno::description("Returns z from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return a.z; } + +export float w( float4 a) +[[ + anno::display_name("W from float4"), + anno::description("Returns w from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11025) +]] +{ return a.w; } + +export float x( color a) +[[ + anno::display_name("R from color"), + anno::description("Returns r from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11003) +]] +{ return x( float3(a)); } + +export float y( color a) +[[ + anno::display_name("G from color"), + anno::description("Returns g from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11013) +]] +{ return y( float3(a)); } + +export float z( color a) +[[ + anno::display_name("B from color"), + anno::description("Returns b from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return z( float3(a)); } + +export float x( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("R from texture_return"), + anno::description("Returns r from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11004) +]] +{ return float3( a.tint).x; } + +export float y( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("G from texture_return"), + anno::description("Returns g from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11014) +]] +{ return float3( a.tint).y; } + +export float z( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("B from texture_return"), + anno::description("Returns b from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11022) +]] +{ return float3( a.tint).z; } + +export float w( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("Mono from texture_return"), + anno::description("Returns mono/alpha from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11026) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Conversions of texture_return +// All are hidden +export float4 texture_return_float4( + texture_return a [[ + anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") + ]]) +[[ + anno::display_name("float4 from texture_return"), + anno::description("Converts texture_return to float4 using tint RGB and mono as W."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float4"), + icon(".icons/component_extract.svg"), + anno::ui_order(10108) +]] +{ return float4(x(a),y(a),z(a),w(a)); } + +export float3 texture_return_float3( + texture_return a [[ + anno::description("Input texture sample container to unpack as float3 (r, g, b).") + ]]) +[[ + anno::display_name("float3 from texture_return"), + anno::description("Converts texture_return to float3 using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + icon(".icons/component_extract.svg"), + anno::ui_order(10109) +]] +{ return float3(x(a),y(a),z(a)); } + +export color texture_return_color( + texture_return a [[ + anno::description("Input texture sample container; tint RGB is returned as color.") + ]]) +[[ + anno::display_name("color from texture_return"), + anno::description("Converts texture_return to color using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Color"), + icon(".icons/component_extract.svg"), + anno::ui_order(10110) +]] +{ return a.tint; } + +export float texture_return_float( + texture_return a [[ + anno::description("Input texture sample container; mono channel is returned.") + ]]) +[[ + anno::display_name("float from texture_return"), + anno::description("Converts texture_return to float using the mono channel."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float"), + icon(".icons/component_extract.svg"), + anno::ui_order(10111) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float2 return type + +export float2 xy( float2 a) +[[ + anno::display_name("XY from float2"), + anno::description("Returns float2(x,y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11040) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float3 a) +[[ + anno::display_name("XY from float3"), + anno::description("Returns float2(x,y) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11041) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float4 a) +[[ + anno::display_name("XY from float4"), + anno::description("Returns float2(x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return float2( a.x, a.y); } + +export float2 xy( color a) +[[ + anno::display_name("XY from color"), + anno::description("Returns float2(x,y) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return xy( float3(a)); } + +export float2 xy( + texture_return a [[ + anno::description("Input texture sample container; returns the first two tint channels.") + ]]) +[[ + anno::display_name("XY from texture_return"), + anno::description("Returns float2(r, g) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return xy(texture_return_float4(a)); } + + +// The remaining are hidden +export float2 xx( float2 a) +[[ + anno::display_name("XX from float2"), + anno::description("Returns float2(x,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11030) +]] +{ return float2( a.x, a.x); } + +export float2 yx( float2 a) +[[ + anno::display_name("YX from float2"), + anno::description("Returns float2(y,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11050) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float2 a) +[[ + anno::display_name("YY from float2"), + anno::description("Returns float2(y,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11060) +]] +{ return float2( a.y, a.y); } + +export float2 xx( float3 a) +[[ + anno::display_name("XX from float3"), + anno::description("Returns float2(x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11031) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float3 a) +[[ + anno::display_name("XZ from float3"), + anno::description("Returns float2(x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11042) +]] +{ return float2( a.x, a.z); } + +export float2 yz( float3 a) +[[ + anno::display_name("YZ from float3"), + anno::description("Returns float2(y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return float2( a.y, a.z); } + +export float2 yx( float3 a) +[[ + anno::display_name("YX from float3"), + anno::description("Returns float2(y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11051) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float3 a) +[[ + anno::display_name("YY from float3"), + anno::description("Returns float2(y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11061) +]] +{ return float2( a.y, a.y); } + +export float2 zx( float3 a) +[[ + anno::display_name("ZX from float3"), + anno::description("Returns float2(z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11090) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float3 a) +[[ + anno::display_name("ZY from float3"), + anno::description("Returns float2(z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11100) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float3 a) +[[ + anno::display_name("ZZ from float3"), + anno::description("Returns float2(z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11110) +]] +{ return float2( a.z, a.z); } + +export float2 xx( float4 a) +[[ + anno::display_name("XX from float4"), + anno::description("Returns float2(x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11032) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float4 a) +[[ + anno::display_name("XZ from float4"), + anno::description("Returns float2(x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11071) +]] +{ return float2( a.x, a.z); } + +export float2 xw( float4 a) +[[ + anno::display_name("XW from float4"), + anno::description("Returns float2(x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11120) +]] +{ return float2( a.x, a.w); } + +export float2 yx( float4 a) +[[ + anno::display_name("YX from float4"), + anno::description("Returns float2(y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11052) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float4 a) +[[ + anno::display_name("YY from float4"), + anno::description("Returns float2(y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11062) +]] +{ return float2( a.y, a.y); } + +export float2 yz( float4 a) +[[ + anno::display_name("YZ from float4"), + anno::description("Returns float2(y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11081) +]] +{ return float2( a.y, a.z); } + +export float2 yw( float4 a) +[[ + anno::display_name("YW from float4"), + anno::description("Returns float2(y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11125) +]] +{ return float2( a.y, a.w); } + +export float2 zx( float4 a) +[[ + anno::display_name("ZX from float4"), + anno::description("Returns float2(z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11091) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float4 a) +[[ + anno::display_name("ZY from float4"), + anno::description("Returns float2(z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11101) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float4 a) +[[ + anno::display_name("ZZ from float4"), + anno::description("Returns float2(z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11111) +]] +{ return float2( a.z, a.z); } + +export float2 zw( float4 a) +[[ + anno::display_name("ZW from float4"), + anno::description("Returns float2(z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11127) +]] +{ return float2( a.z, a.w); } + +export float2 wx( float4 a) +[[ + anno::display_name("WX from float4"), + anno::description("Returns float2(w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11129) +]] +{ return float2( a.w, a.x); } + +export float2 wy( float4 a) +[[ + anno::display_name("WX from loat4"), + anno::description("Returns float2(w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11131) +]] +{ return float2( a.w, a.y); } + +export float2 wz( float4 a) +[[ + anno::display_name("WZ from float4"), + anno::description("Returns float2(w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11133) +]] +{ return float2( a.w, a.z); } + +export float2 ww( float4 a) +[[ + anno::display_name("WW from float4"), + anno::description("Returns float2(w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11135) +]] +{ return float2( a.w, a.w); } + +export float2 xx( color a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11033) +]] +{ return xx( float3(a)); } + +export float2 xz( color a) +[[ + anno::display_name("XZ from color"), + anno::description("Returns float2(x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11072) +]] +{ return xz( float3(a)); } + +export float2 yx( color a) +[[ + anno::display_name("YX from color"), + anno::description("Returns float2(y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11053) +]] +{ return yx( float3(a)); } + +export float2 yy( color a) +[[ + anno::display_name("YY from color"), + anno::description("Returns float2(y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11063) +]] +{ return yy( float3(a)); } + +export float2 yz( color a) +[[ + anno::display_name("YZ from color"), + anno::description("Returns float2(y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11082) +]] +{ return yz( float3(a)); } + +export float2 zx( color a) +[[ + anno::display_name("ZX from color"), + anno::description("Returns float2(z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11092) +]] +{ return zx( float3(a)); } + +export float2 zy( color a) +[[ + anno::display_name("ZY from color"), + anno::description("Returns float2(z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11102) +]] +{ return zy( float3(a)); } + +export float2 zz( color a) +[[ + anno::display_name("ZZ from color"), + anno::description("Returns float2(z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11112) +]] +{ return zz( float3(a)); } + +export float2 xx( texture_return a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11034) +]] +{ return xx(texture_return_float4(a)); } + +export float2 xz( texture_return a) +[[ + anno::display_name("XZ from texture_return"), + anno::description("Returns float2(x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11073) +]] +{ return xz(texture_return_float4(a)); } + +export float2 xw( texture_return a) +[[ + anno::display_name("XW from texture_return"), + anno::description("Returns float2(x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11121) +]] +{ return xw(texture_return_float4(a)); } + +export float2 yx( texture_return a) +[[ + anno::display_name("YX from texture_return"), + anno::description("Returns float2(y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11054) +]] +{ return yx(texture_return_float4(a)); } + +export float2 yy( texture_return a) +[[ + anno::display_name("YY from texture_return"), + anno::description("Returns float2(y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11064) +]] +{ return yy(texture_return_float4(a)); } + +export float2 yz( texture_return a) +[[ + anno::display_name("YZ from texture_return"), + anno::description("Returns float2(y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11083) +]] +{ return yz(texture_return_float4(a)); } + +export float2 yw( texture_return a) +[[ + anno::display_name("YW from texture_return"), + anno::description("Returns float2(y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11126) +]] +{ return yw(texture_return_float4(a)); } + +export float2 zx( texture_return a) +[[ + anno::display_name("ZX from texture_return"), + anno::description("Returns float2(z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11093) +]] +{ return zx(texture_return_float4(a)); } + +export float2 zy( texture_return a) +[[ + anno::display_name("ZY from texture_return"), + anno::description("Returns float2(z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11103) +]] +{ return zy(texture_return_float4(a)); } + +export float2 zz( texture_return a) +[[ + anno::display_name("ZZ from texture_return"), + anno::description("Returns float2(z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11113) +]] +{ return zz(texture_return_float4(a)); } + +export float2 zw( texture_return a) +[[ + anno::display_name("ZW from texture_return"), + anno::description("Returns float2(z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11128) +]] +{ return zw(texture_return_float4(a)); } + +export float2 wx( texture_return a) +[[ + anno::display_name("WX from texture_return.WX"), + anno::description("Returns float2(w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11130) +]] +{ return wx(texture_return_float4(a)); } + +export float2 wy( texture_return a) +[[ + anno::display_name("WY from texture_return"), + anno::description("Returns float2(w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11132) +]] +{ return wy(texture_return_float4(a)); } + +export float2 wz( texture_return a) +[[ + anno::display_name("WZ from texture_return"), + anno::description("Returns float2(w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11134) +]] +{ return wz(texture_return_float4(a)); } + +export float2 ww( texture_return a) +[[ + anno::display_name("WW from texture_return"), + anno::description("Returns float2(w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11136) +]] +{ return ww(texture_return_float4(a)); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float3 return type + +export float3 xyz( float3 a) +[[ + anno::display_name("XYZ from float3"), + anno::description("Returns float3(x,y,z) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11290) +]] +{ return float3( a.x, a.y, a.z); } + +export float3 xyz( float4 a) +[[ + anno::display_name("XYZ from float4"), + anno::description("Returns float3(x,y,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11291) +]] +{ return float3( a.x, a.y, a.z); } + + +// The remaining are hidden +export float3 yyw( float4 a) +[[ + anno::display_name("YYW from float4"), + anno::description("Returns float3(y,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11640) +]] +{ return float3( a.y, a.y, a.w); } + +export float3 xxx( float2 a) +[[ + anno::display_name("XXX from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11200) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float2 a) +[[ + anno::display_name("XXY from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11210) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xyx( float2 a) +[[ + anno::display_name("XYX from float2"), + anno::description("Returns float3(x,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11230) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float2 a) +[[ + anno::display_name("XYY from float2"), + anno::description("Returns float3(x,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11240) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 yxx( float2 a) +[[ + anno::display_name("YXX from float2"), + anno::description("Returns float3(y,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11250) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float2 a) +[[ + anno::display_name("YXY from float2"), + anno::description("Returns float3(y,x,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11260) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yyx( float2 a) +[[ + anno::display_name("YYX from float2"), + anno::description("Returns float3(y,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11270) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float2 a) +[[ + anno::display_name("YYY from float2"), + anno::description("Returns float3(y,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11280) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 xxx( float3 a) +[[ + anno::display_name("XXX from float3"), + anno::description("Returns float3(x,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11201) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float3 a) +[[ + anno::display_name("XXY from float3"), + anno::description("Returns float3(x,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11211) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float3 a) +[[ + anno::display_name("XXZ from float3"), + anno::description("Returns float3(x,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11220) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xyx( float3 a) +[[ + anno::display_name("XYX from float3"), + anno::description("Returns float3(x,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11231) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float3 a) +[[ + anno::display_name("XYY from float3"), + anno::description("Returns float3(x,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11241) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xzx( float3 a) +[[ + anno::display_name("XZX from float3"), + anno::description("Returns float3(x,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11300) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float3 a) +[[ + anno::display_name("XZY from float3"), + anno::description("Returns float3(x,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11310) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float3 a) +[[ + anno::display_name("XZZ from float3"), + anno::description("Returns float3(x,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11320) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 yxx( float3 a) +[[ + anno::display_name("YXX from float3"), + anno::description("Returns float3(y,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11251) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float3 a) +[[ + anno::display_name("YXY from float3"), + anno::description("Returns float3(y,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11261) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float3 a) +[[ + anno::display_name("YXZ from float3"), + anno::description("Returns float3(y,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11330) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yyx( float3 a) +[[ + anno::display_name("YYX from float3"), + anno::description("Returns float3(y,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11271) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float3 a) +[[ + anno::display_name("YYY from float3"), + anno::description("Returns float3(y,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11281) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float3 a) +[[ + anno::display_name("YYZ from float3"), + anno::description("Returns float3(y,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11340) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float3 a) +[[ + anno::display_name("YZX from float3"), + anno::description("Returns float3(y,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11350) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float3 a) +[[ + anno::display_name("YZY from float3.YZY"), + anno::description("Returns float3(y,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11360) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float3 a) +[[ + anno::display_name("YZZ from float3"), + anno::description("Returns float3(y,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11370) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 zxx( float3 a) +[[ + anno::display_name("ZXX from float3"), + anno::description("Returns float3(z,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11380) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float3 a) +[[ + anno::display_name("float3.ZXY"), + anno::description("Returns float3(z,x,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11390) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float3 a) +[[ + anno::display_name("ZXZ from float3"), + anno::description("Returns float3(z,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11400) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zyx( float3 a) +[[ + anno::display_name("ZYX from float3"), + anno::description("Returns float3(z,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11410) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float3 a) +[[ + anno::display_name("ZYY from float3"), + anno::description("Returns float3(z,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11420) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float3 a) +[[ + anno::display_name("ZYZ from float3"), + anno::description("Returns float3(z,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11430) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zzx( float3 a) +[[ + anno::display_name("ZZX from float3"), + anno::description("Returns float3(z,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11440) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float3 a) +[[ + anno::display_name("ZZY from float3"), + anno::description("Returns float3(z,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11450) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float3 a) +[[ + anno::display_name("ZZZ from float3"), + anno::description("Returns float3(z,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11460) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 xxx( float4 a) +[[ + anno::display_name("XXX from float4"), + anno::description("Returns float3(x,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11202) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float4 a) +[[ + anno::display_name("XXY from float4"), + anno::description("Returns float3(x,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11212) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float4 a) +[[ + anno::display_name("XXZ from float4"), + anno::description("Returns float3(x,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11222) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xxw( float4 a) +[[ + anno::display_name("XXW from float4"), + anno::description("Returns float3(x,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11227) +]] +{ return float3( a.x, a.x, a.w); } + +export float3 xyx( float4 a) +[[ + anno::display_name("XYX from float4"), + anno::description("Returns float3(x,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11232) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float4 a) +[[ + anno::display_name("XYY from float4"), + anno::description("Returns float3(x,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11242) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xyw( float4 a) +[[ + anno::display_name("XYW from float4"), + anno::description("Returns float3(x,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11295) +]] +{ return float3( a.x, a.y, a.w); } + +export float3 xzx( float4 a) +[[ + anno::display_name("XZX from float4"), + anno::description("Returns float3(x,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11301) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float4 a) +[[ + anno::display_name("XZY from float4"), + anno::description("Returns float3(x,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11311) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float4 a) +[[ + anno::display_name("XZZ from float4"), + anno::description("Returns float3(x,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 xzw( float4 a) +[[ + anno::display_name("XZW from float4"), + anno::description("Returns float3(x,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11600) +]] +{ return float3( a.x, a.z, a.w); } + +export float3 xwx( float4 a) +[[ + anno::display_name("XWX from float4"), + anno::description("Returns float3(x,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11604) +]] +{ return float3( a.x, a.w, a.x); } + +export float3 xwy( float4 a) +[[ + anno::display_name("XWY from float4"), + anno::description("Returns float3(x,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11608) +]] +{ return float3( a.x, a.w, a.y); } + +export float3 xwz( float4 a) +[[ + anno::display_name("XWZ from float4"), + anno::description("Returns float3(x,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11612) +]] +{ return float3( a.x, a.w, a.z); } + +export float3 xww( float4 a) +[[ + anno::display_name("XWW from float4"), + anno::description("Returns float3(x,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11616) +]] +{ return float3( a.x, a.w, a.w); } + +export float3 yxx( float4 a) +[[ + anno::display_name("YXX from float4"), + anno::description("Returns float3(y,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11252) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float4 a) +[[ + anno::display_name("YXY from float4"), + anno::hidden(), + anno::description("Returns float3(y,x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11262) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float4 a) +[[ + anno::display_name("YXZ from float4"), + anno::description("Returns float3(y,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11331) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yxw( float4 a) +[[ + anno::display_name("YXW from float4"), + anno::description("Returns float3(y,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11630) +]] +{ return float3( a.y, a.x, a.w); } + +export float3 yyx( float4 a) +[[ + anno::display_name("YYX from float4"), + anno::description("Returns float3(y,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11272) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float4 a) +[[ + anno::display_name("YYY from float4"), + anno::description("Returns float3(y,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11282) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float4 a) +[[ + anno::display_name("YYZ from float4"), + anno::description("Returns float3(y,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11341) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float4 a) +[[ + anno::display_name("YZX from float4"), + anno::description("Returns float3(y,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11351) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float4 a) +[[ + anno::display_name("YZY from float4"), + anno::description("Returns float3(y,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11361) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float4 a) +[[ + anno::display_name("YZZ from float4"), + anno::description("Returns float3(y,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11371) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 yzw( float4 a) +[[ + anno::display_name("YZW from float4"), + anno::description("Returns float3(y,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11650) +]] +{ return float3( a.y, a.z, a.w); } + +export float3 ywx( float4 a) +[[ + anno::display_name("YWX from float4"), + anno::description("Returns float3(y,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11653) +]] +{ return float3( a.y, a.w, a.x); } + +export float3 ywy( float4 a) +[[ + anno::display_name("YWY from float4"), + anno::description("Returns float3(y,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11656) +]] +{ return float3( a.y, a.w, a.y); } + +export float3 ywz( float4 a) +[[ + anno::display_name("YWZ from float4"), + anno::description("Returns float3(y,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11658) +]] +{ return float3( a.y, a.w, a.z); } + +export float3 yww( float4 a) +[[ + anno::display_name("YWW from float4"), + anno::description("Returns float3(y,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11661) +]] +{ return float3( a.y, a.w, a.w); } + +export float3 zxx( float4 a) +[[ + anno::display_name("ZXX from float4"), + anno::description("Returns float3(z,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11381) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float4 a) +[[ + anno::display_name("ZXY from float4"), + anno::description("Returns float3(z,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11391) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float4 a) +[[ + anno::display_name("ZXZ from float4"), + anno::description("Returns float3(z,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11401) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zxw( float4 a) +[[ + anno::display_name("ZXW from float4"), + anno::description("Returns float3(z,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11671) +]] +{ return float3( a.z, a.x, a.w); } + +export float3 zyx( float4 a) +[[ + anno::display_name("ZYX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11411) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float4 a) +[[ + anno::display_name("ZYY from float4"), + anno::description("Returns float3(z,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11421) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float4 a) +[[ + anno::display_name("ZYZ from float4"), + anno::description("Returns float3(z,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11431) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zyw( float4 a) +[[ + anno::display_name("ZYW from float4"), + anno::description("Returns float3(z,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return float3( a.z, a.y, a.w); } + +export float3 zzx( float4 a) +[[ + anno::display_name("ZZX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11441) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float4 a) +[[ + anno::display_name("ZZY from float4"), + anno::description("Returns float3(z,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11451) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float4 a) +[[ + anno::display_name("ZZZ from float4"), + anno::hidden(), + anno::description("Returns float3(z,z,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11461) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 zzw( float4 a) +[[ + anno::display_name("ZZW from float4"), + anno::description("Returns float3(z,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11465) +]] +{ return float3( a.z, a.z, a.w); } + +export float3 zwx( float4 a) +[[ + anno::display_name("ZWX from float4"), + anno::description("Returns float3(z,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return float3( a.z, a.w, a.x); } + +export float3 zwy( float4 a) +[[ + anno::display_name("ZWY from float4"), + anno::description("Returns float3(z,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11471) +]] +{ return float3( a.z, a.w, a.y); } + +export float3 zwz( float4 a) +[[ + anno::display_name("ZWZ from float4"), + anno::description("Returns float3(z,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11475) +]] +{ return float3( a.z, a.w, a.z); } + +export float3 zww( float4 a) +[[ + anno::display_name("ZWW from float4"), + anno::description("Returns float3(z,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11479) +]] +{ return float3( a.z, a.w, a.w); } + +export float3 wxx( float4 a) +[[ + anno::display_name("WXX from float4"), + anno::description("Returns float3(w,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11483) +]] +{ return float3( a.w, a.x, a.x); } + +export float3 wxy( float4 a) +[[ + anno::display_name("WXY from float4"), + anno::description("Returns float3(w,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11487) +]] +{ return float3( a.w, a.x, a.y); } + +export float3 wxz( float4 a) +[[ + anno::display_name("WXZ from float4"), + anno::description("Returns float3(w,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11490) +]] +{ return float3( a.w, a.x, a.z); } + +export float3 wxw( float4 a) +[[ + anno::display_name("WXW from float4"), + anno::description("Returns float3(w,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11496) +]] +{ return float3( a.w, a.x, a.w); } + +export float3 wyx( float4 a) +[[ + anno::display_name("WYX from float4"), + anno::description("Returns float3(w,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11503) +]] +{ return float3( a.w, a.y, a.x); } + +export float3 wyy( float4 a) +[[ + anno::display_name("WYY from float4"), + anno::description("Returns float3(w,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11507) +]] +{ return float3( a.w, a.y, a.y); } + +export float3 wyz( float4 a) +[[ + anno::display_name("WYZ from float4"), + anno::description("Returns float3(w,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11510) +]] +{ return float3( a.w, a.y, a.z); } + +export float3 wyw( float4 a) +[[ + anno::display_name("WYW from float4"), + anno::description("Returns float3(w,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11514) +]] +{ return float3( a.w, a.y, a.w); } + +export float3 wzx( float4 a) +[[ + anno::display_name("WZX from float4"), + anno::description("Returns float3(w,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11518) +]] +{ return float3( a.w, a.z, a.x); } + +export float3 wzy( float4 a) +[[ + anno::display_name("WZY from float4"), + anno::description("Returns float3(w,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11521) +]] +{ return float3( a.w, a.z, a.y); } + +export float3 wzz( float4 a) +[[ + anno::display_name("WZZ from float4"), + anno::description("Returns float3(w,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11524) +]] +{ return float3( a.w, a.z, a.z); } + +export float3 wzw( float4 a) +[[ + anno::display_name("WZW from float4"), + anno::description("Returns float3(w,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11529) +]] +{ return float3( a.w, a.z, a.w); } + +export float3 wwx( float4 a) +[[ + anno::display_name("WWX from float4"), + anno::description("Returns float3(w,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return float3( a.w, a.w, a.x); } + +export float3 wwy( float4 a) +[[ + anno::display_name("WWY from float4"), + anno::hidden(), + anno::description("Returns float3(w,w,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11537) +]] +{ return float3( a.w, a.w, a.y); } + +export float3 wwz( float4 a) +[[ + anno::display_name("WWZ from float4"), + anno::description("Returns float3(w,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return float3( a.w, a.w, a.z); } + +export float3 www( float4 a) +[[ + anno::display_name("WWW from float4"), + anno::description("Returns float3(w,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11544) +]] +{ return float3( a.w, a.w, a.w); } + +export float3 xxx( color a) +[[ + anno::display_name("XXX from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11203) +]] +{ return xxx( float3(a)); } + +export float3 xxy( color a) +[[ + anno::display_name("XXY from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11213) +]] +{ return xxy( float3(a)); } + +export float3 xxz( color a) +[[ + anno::display_name("XXZ from color"), + anno::description("Returns float3(x,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11223) +]] +{ return xxz( float3(a)); } + +export float3 xyx( color a) +[[ + anno::display_name("XYX from color"), + anno::description("Returns float3(x,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11233) +]] +{ return xyx( float3(a)); } + +export float3 xyy( color a) +[[ + anno::display_name("XYY from color"), + anno::description("Returns float3(x,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11243) +]] +{ return xyy( float3(a)); } + +export float3 xyz( color a) +[[ + anno::display_name("XYZ from color"), + anno::description("Returns float3(x,y,z) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11292) +]] +{ return xyz( float3(a)); } + +export float3 xzx( color a) +[[ + anno::display_name("XZX from color"), + anno::description("Returns float3(x,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11302) +]] +{ return xzx( float3(a)); } + +export float3 xzy( color a) +[[ + anno::display_name("XZY from color"), + anno::description("Returns float3(x,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11312) +]] +{ return xzy( float3(a)); } + +export float3 xzz( color a) +[[ + anno::display_name("XZZ from color"), + anno::description("Returns float3(x,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11323) +]] +{ return xzz( float3(a)); } + +export float3 yxx( color a) +[[ + anno::display_name("YXX from color"), + anno::description("Returns float3(y,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11253) +]] +{ return yxx( float3(a)); } + +export float3 yxy( color a) +[[ + anno::display_name("YXY from color"), + anno::description("Returns float3(y,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11263) +]] +{ return yxy( float3(a)); } + +export float3 yxz( color a) +[[ + anno::display_name("YXZ from color"), + anno::description("Returns float3(y,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11332) +]] +{ return yxz( float3(a)); } + +export float3 yyx( color a) +[[ + anno::display_name("YYX from color"), + anno::description("Returns float3(y,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11273) +]] +{ return yyx( float3(a)); } + +export float3 yyy( color a) +[[ + anno::display_name("YYY from color"), + anno::description("Returns float3(y,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11283) +]] +{ return yyy( float3(a)); } + +export float3 yyz( color a) +[[ + anno::display_name("YYZ from color"), + anno::description("Returns float3(y,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11342) +]] +{ return yyz( float3(a)); } + +export float3 yzx( color a) +[[ + anno::display_name("YZX from color"), + anno::description("Returns float3(y,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11352) +]] +{ return yzx( float3(a)); } + +export float3 yzy( color a) +[[ + anno::display_name("YZY from color"), + anno::description("Returns float3(y,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11362) +]] +{ return yzy( float3(a)); } + +export float3 yzz( color a) +[[ + anno::display_name("YZZ from color"), + anno::description("Returns float3(y,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11372) +]] +{ return yzz( float3(a)); } + +export float3 zxx( color a) +[[ + anno::display_name("ZXX from color"), + anno::description("Returns float3(z,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11382) +]] +{ return zxx( float3(a)); } + +export float3 zxy( color a) +[[ + anno::display_name("ZXY from color"), + anno::description("Returns float3(z,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11392) +]] +{ return zxy( float3(a)); } + +export float3 zxz( color a) +[[ + anno::display_name("ZXZ from color"), + anno::description("Returns float3(z,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11402) +]] +{ return zxz( float3(a)); } + +export float3 zyx( color a) +[[ + anno::display_name("ZYX from color"), + anno::description("Returns float3(z,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11412) +]] +{ return zyx( float3(a)); } + +export float3 zyy( color a) +[[ + anno::display_name("ZYY from color"), + anno::description("Returns float3(z,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11422) +]] +{ return zyy( float3(a)); } + +export float3 zyz( color a) +[[ + anno::display_name("ZYZ from color"), + anno::description("Returns float3(z,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return zyz( float3(a)); } + +export float3 zzx( color a) +[[ + anno::display_name("ZZX from color"), + anno::description("Returns float3(z,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11442) +]] +{ return zzx( float3(a)); } + +export float3 zzy( color a) +[[ + anno::display_name("ZZY from color"), + anno::description("Returns float3(z,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11452) +]] +{ return zzy( float3(a)); } + +export float3 zzz( color a) +[[ + anno::display_name("ZZZ from color"), + anno::description("Returns float3(z,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11462) +]] +{ return zzz( float3(a)); } + +export float3 xxx( texture_return a) +[[ + anno::display_name("XXX from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11204) +]] +{ return xxx(texture_return_float4(a)); } + +export float3 xxy( texture_return a) +[[ + anno::display_name("XXY from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11214) +]] +{ return xxy(texture_return_float4(a)); } + +export float3 xxz( texture_return a) +[[ + anno::display_name("XXZ from texture_return"), + anno::description("Returns float3(x,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11224) +]] +{ return xxz(texture_return_float4(a)); } + +export float3 xxw( texture_return a) +[[ + anno::display_name("XXW from texture_return"), + anno::description("Returns float3(x,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11229) +]] +{ return xxw(texture_return_float4(a)); } + +export float3 xyx( texture_return a) +[[ + anno::display_name("XYX from texture_return"), + anno::description("Returns float3(x,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11234) +]] +{ return xyx(texture_return_float4(a)); } + +export float3 xyy( texture_return a) +[[ + anno::display_name("XYY from texture_return"), + anno::description("Returns float3(x,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11244) +]] +{ return xyy(texture_return_float4(a)); } + +export float3 xyz( texture_return a) +[[ + anno::display_name("XYZ from texture_return"), + anno::description("Returns float3(x,y,z) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11293) +]] +{ return xyz(texture_return_float4(a)); } + +export float3 xyw( texture_return a) +[[ + anno::display_name("XYW from texture_return"), + anno::description("Returns float3(x,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11296) +]] +{ return xyw(texture_return_float4(a)); } + +export float3 xzx( texture_return a) +[[ + anno::display_name("XZX from texture_return"), + anno::description("Returns float3(x,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11303) +]] +{ return xzx(texture_return_float4(a)); } + +export float3 xzy( texture_return a) +[[ + anno::display_name("XZY from texture_return"), + anno::description("Returns float3(x,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1131) +]] +{ return xzy(texture_return_float4(a)); } + +export float3 xzz( texture_return a) +[[ + anno::display_name("XZZ from texture_return"), + anno::description("Returns float3(x,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return xzz(texture_return_float4(a)); } + +export float3 xzw( texture_return a) +[[ + anno::display_name("XZW from texture_return"), + anno::description("Returns float3(x,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11601) +]] +{ return xzw(texture_return_float4(a)); } + +export float3 xwx( texture_return a) +[[ + anno::display_name("XWX from texture_return"), + anno::description("Returns float3(x,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11605) +]] +{ return xwx(texture_return_float4(a)); } + +export float3 xwy( texture_return a) +[[ + anno::display_name("XWY from texture_return"), + anno::description("Returns float3(x,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11609) +]] +{ return xwy(texture_return_float4(a)); } + +export float3 xwz( texture_return a) +[[ + anno::display_name("XWZ from texture_return"), + anno::description("Returns float3(x,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11613) +]] +{ return xwz(texture_return_float4(a)); } + +export float3 xww( texture_return a) +[[ + anno::display_name("XWW from texture_return"), + anno::description("Returns float3(x,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11617) +]] +{ return xww(texture_return_float4(a)); } + +export float3 yxx( texture_return a) +[[ + anno::display_name("YXX from texture_return"), + anno::description("Returns float3(y,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11254) +]] +{ return yxx(texture_return_float4(a)); } + +export float3 yxy( texture_return a) +[[ + anno::display_name("YXY from texture_return"), + anno::description("Returns float3(y,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11264) +]] +{ return yxy(texture_return_float4(a)); } + +export float3 yxz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11333) +]] +{ return yxz(texture_return_float4(a)); } + +export float3 yxw( texture_return a) +[[ + anno::display_name("YXW from texture_return"), + anno::description("Returns float3(y,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11631) +]] +{ return yxw(texture_return_float4(a)); } + +export float3 yyx( texture_return a) +[[ + anno::display_name("YYX from texture_return"), + anno::description("Returns float3(y,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11274) +]] +{ return yyx(texture_return_float4(a)); } + +export float3 yyy( texture_return a) +[[ + anno::display_name("YYY from texture_return"), + anno::description("Returns float3(y,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11284) +]] +{ return yyy(texture_return_float4(a)); } + +export float3 yyz( texture_return a) +[[ + anno::display_name("YYZ from texture_return"), + anno::description("Returns float3(y,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11344) +]] +{ return yyz(texture_return_float4(a)); } + +export float3 yyw( texture_return a) +[[ + anno::display_name("YYW from texture_return"), + anno::description("Returns float3(y,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11641) +]] +{ return yyw(texture_return_float4(a)); } + +export float3 yzx( texture_return a) +[[ + anno::display_name("YZX from texture_return"), + anno::description("Returns float3(y,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11354) +]] +{ return yzx(texture_return_float4(a)); } + +export float3 yzy( texture_return a) +[[ + anno::display_name("YZY from texture_return"), + anno::description("Returns float3(y,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11363) +]] +{ return yzy(texture_return_float4(a)); } + +export float3 yzz( texture_return a) +[[ + anno::display_name("YZZ from texture_return"), + anno::description("Returns float3(y,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11373) +]] +{ return yzz(texture_return_float4(a)); } + +export float3 yzw( texture_return a) +[[ + anno::display_name("YZW from texture_return"), + anno::description("Returns float3(y,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11651) +]] +{ return yzw(texture_return_float4(a)); } + +export float3 ywx( texture_return a) +[[ + anno::display_name("YWX from texture_return"), + anno::description("Returns float3(y,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11654) +]] +{ return ywx(texture_return_float4(a)); } + +export float3 ywy( texture_return a) +[[ + anno::display_name("YWY from texture_return"), + anno::description("Returns float3(y,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11657) +]] +{ return ywy(texture_return_float4(a)); } + +export float3 ywz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11659) +]] +{ return ywz(texture_return_float4(a)); } + +export float3 yww( texture_return a) +[[ + anno::display_name("YWW from texture_return"), + anno::description("Returns float3(y,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11662) +]] +{ return yww(texture_return_float4(a)); } + +export float3 zxx( texture_return a) +[[ + anno::display_name("ZXX from texture_return"), + anno::description("Returns float3(z,x,x) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11383) +]] +{ return zxx(texture_return_float4(a)); } + +export float3 zxy( texture_return a) +[[ + anno::display_name("ZXY from texture_return"), + anno::description("Returns float3(z,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11394) +]] +{ return zxy(texture_return_float4(a)); } + +export float3 zxz( texture_return a) +[[ + anno::display_name("ZXZ from texture_return"), + anno::description("Returns float3(z,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11403) +]] +{ return zxz(texture_return_float4(a)); } + +export float3 zxw( texture_return a) +[[ + anno::display_name("ZXW from texture_return"), + anno::description("Returns float3(z,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11672) +]] +{ return zxw(texture_return_float4(a)); } + +export float3 zyx( texture_return a) +[[ + anno::display_name("ZYX from texture_return"), + anno::description("Returns float3(z,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11413) +]] +{ return zyx(texture_return_float4(a)); } + +export float3 zyy( texture_return a) +[[ + anno::display_name("ZYY from texture_return"), + anno::description("Returns float3(z,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11423) +]] +{ return zyy(texture_return_float4(a)); } + +export float3 zyz( texture_return a) +[[ + anno::display_name("ZYZ from texture_return"), + anno::description("Returns float3(z,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyz(texture_return_float4(a)); } + +export float3 zyw( texture_return a) +[[ + anno::display_name("ZYW from texture_return"), + anno::description("Returns float3(z,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyw(texture_return_float4(a)); } + +export float3 zzx( texture_return a) +[[ + anno::display_name("ZZX from texture_return"), + anno::description("Returns float3(z,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11443) +]] +{ return zzx(texture_return_float4(a)); } + +export float3 zzy( texture_return a) +[[ + anno::display_name("ZZY from texture_return"), + anno::description("Returns float3(z,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11453) +]] +{ return zzy(texture_return_float4(a)); } + +export float3 zzz( texture_return a) +[[ + anno::display_name("ZZZ from texture_return"), + anno::description("Returns float3(z,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11463) +]] +{ return zzz(texture_return_float4(a)); } + +export float3 zzw( texture_return a) +[[ + anno::display_name("ZZW from texture_return"), + anno::description("Returns float3(z,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11466) +]] +{ return zzw(texture_return_float4(a)); } + +export float3 zwx( texture_return a) +[[ + anno::display_name("ZWX from texture_return"), + anno::description("Returns float3(z,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return zwx(texture_return_float4(a)); } + +export float3 zwy( texture_return a) +[[ + anno::display_name("ZWY from texture_return"), + anno::description("Returns float3(z,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11472) +]] +{ return zwy(texture_return_float4(a)); } + +export float3 zwz( texture_return a) +[[ + anno::display_name("ZWZ from texture_return"), + anno::description("Returns float3(z,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11476) +]] +{ return zwz(texture_return_float4(a)); } + +export float3 zww( texture_return a) +[[ + anno::display_name("texture_return.ZWW"), + anno::description("Returns float3(z,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11480) +]] +{ return zww(texture_return_float4(a)); } + +export float3 wxx( texture_return a) +[[ + anno::display_name("WXX from texture_return"), + anno::description("Returns float3(w,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11484) +]] +{ return wxx(texture_return_float4(a)); } + +export float3 wxy( texture_return a) +[[ + anno::display_name("WXY from texture_return"), + anno::description("Returns float3(w,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11488) +]] +{ return wxy(texture_return_float4(a)); } + +export float3 wxz( texture_return a) +[[ + anno::display_name("WXZ from texture_return"), + anno::description("Returns float3(w,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11493) +]] +{ return wxz(texture_return_float4(a)); } + +export float3 wxw( texture_return a) +[[ + anno::display_name("WXW from texture_return"), + anno::description("Returns float3(w,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11500) +]] +{ return wxw(texture_return_float4(a)); } + +export float3 wyx( texture_return a) +[[ + anno::display_name("WYX from texture_return"), + anno::description("Returns float3(w,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1150) +]] +{ return wyx(texture_return_float4(a)); } + +export float3 wyy( texture_return a) +[[ + anno::display_name("WYY from texture_return"), + anno::description("Returns float3(w,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11508) +]] +{ return wyy(texture_return_float4(a)); } + +export float3 wyz( texture_return a) +[[ + anno::display_name("WYZ from texture_return"), + anno::description("Returns float3(w,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11511) +]] +{ return wyz(texture_return_float4(a)); } + +export float3 wyw( texture_return a) +[[ + anno::display_name("WYW from texture_return"), + anno::description("Returns float3(w,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11515) +]] +{ return wyw(texture_return_float4(a)); } + +export float3 wzx( texture_return a) +[[ + anno::display_name("WZX from texture_return"), + anno::description("Returns float3(w,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11519) +]] +{ return wzx(texture_return_float4(a)); } + +export float3 wzy( texture_return a) +[[ + anno::display_name("WZY from texture_return"), + anno::description("Returns float3(w,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11522) +]] +{ return wzy(texture_return_float4(a)); } + +export float3 wzz( texture_return a) +[[ + anno::display_name("WZZ from texture_return"), + anno::description("Returns float3(w,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11525) +]] +{ return wzz(texture_return_float4(a)); } + +export float3 wzw( texture_return a) +[[ + anno::display_name("WZW from texture_return"), + anno::description("Returns float3(w,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11530) +]] +{ return wzw(texture_return_float4(a)); } + +export float3 wwx( texture_return a) +[[ + anno::display_name("WWWX from texture_return"), + anno::description("Returns float3(w,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return wwx(texture_return_float4(a)); } + +export float3 wwy( texture_return a) +[[ + anno::display_name("WWY from texture_return"), + anno::description("Returns float3(w,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11538) +]] +{ return wwy(texture_return_float4(a)); } + +export float3 wwz( texture_return a) +[[ + anno::display_name("WWZ from texture_return"), + anno::description("Returns float3(w,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return wwz(texture_return_float4(a)); } + +export float3 www( texture_return a) +[[ + anno::display_name("WWW from texture_return"), + anno::description("Returns float3(w,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11545) +]] +{ return www(texture_return_float4(a)); }