diff --git a/.gitattributes b/.gitattributes index 56b5018302daff1aebb9c5e1402012dd8f7a97e5..b80904ead5b4ad58407fe105f07dd10344d92787 100644 --- a/.gitattributes +++ b/.gitattributes @@ -256,3 +256,6 @@ psyonic_ability_hand_left_large/payloads/geometries.usd filter=lfs diff=lfs merg 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 +robotiq_2f_140/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text +robotiq_2f_85/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text +robotiq_hand_e_robotiq_hand_e_base/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text diff --git a/robotiq_2f_140/materials/mdl/core_definitions.mdl b/robotiq_2f_140/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/robotiq_2f_140/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/robotiq_2f_140/materials/mdl/license.txt b/robotiq_2f_140/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/robotiq_2f_140/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/robotiq_2f_140/materials/mdl/support_definitions.mdl b/robotiq_2f_140/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/robotiq_2f_140/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/robotiq_2f_140/payloads/Physics/mujoco.usda b/robotiq_2f_140/payloads/Physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..5dd6eb1121f0e060685a04fe9552ae9ce63468f2 --- /dev/null +++ b/robotiq_2f_140/payloads/Physics/mujoco.usda @@ -0,0 +1,264 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 0.9999999776482582 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Robotiq_2F_140" +{ + over "left_outer_knuckle" + { + over "Looks" + { + } + + over "Finger1" + { + over "Finger1" ( + ) + { + } + } + } + + over "left_outer_finger" + { + over "Looks" + { + } + + over "Finger2" + { + over "Finger2" ( + ) + { + } + } + } + + over "left_inner_finger" + { + over "Fingertip_01" + { + over "Looks" + { + } + + over "Fingertip" + { + over "Fingertip" ( + ) + { + } + } + } + + over "Finger4_01" + { + over "Looks" + { + } + + over "Finger4" + { + over "Finger4" ( + ) + { + } + } + } + + over "Contact_Sensor" + { + } + } + + over "left_inner_knuckle" + { + over "Looks" + { + } + + over "Finger3" + { + over "Finger3" ( + ) + { + } + } + } + + over "right_outer_knuckle" + { + over "Looks" + { + } + + over "Finger1" + { + over "Finger1" ( + ) + { + } + } + } + + over "right_outer_finger" + { + over "Looks" + { + } + + over "Finger2" + { + over "Finger2" ( + ) + { + } + } + } + + over "right_inner_finger" + { + over "Finger4_01" + { + over "Looks" + { + } + + over "Finger4" + { + over "Finger4" ( + ) + { + } + } + } + + over "Fingertip_01" + { + over "Looks" + { + } + + over "Fingertip" + { + over "Fingertip" ( + ) + { + } + } + } + } + + over "right_inner_knuckle" + { + over "Looks" + { + } + + over "Finger3" + { + over "Finger3" ( + ) + { + } + } + } + + over "finger_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_outer_knuckle_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "left_inner_knuckle_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_inner_knuckle_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "left_outer_finger_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_outer_finger_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "left_inner_finger_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_inner_finger_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_inner_finger_pad_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "left_inner_finger_pad_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "robotiq_base_link" + { + over "grasp_frame" + { + } + + over "_F_Body_01" + { + over "Looks" + { + } + + over "_F_Body" + { + over "_F_Body" ( + ) + { + } + } + } + } + + over "fingertip_material" + { + } + + over "VisualMaterials" + { + } +} + diff --git a/robotiq_2f_140/payloads/Physics/physics.usda b/robotiq_2f_140/payloads/Physics/physics.usda new file mode 100644 index 0000000000000000000000000000000000000000..285f11fb9d5af5a9bdd62e3db57eda592b3ff498 --- /dev/null +++ b/robotiq_2f_140/payloads/Physics/physics.usda @@ -0,0 +1,539 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_140" + endTimeCode = 0 + metersPerUnit = 0.9999999776482582 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Robotiq_2F_140" ( + prepend apiSchemas = ["PhysicsArticulationRootAPI"] +) +{ + 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"] + over "left_outer_knuckle" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.05289377, 0.053183377, -2.193588e-18) + float3 physics:diagonalInertia = (2.1310669e-7, 6.734388e-7, 7.516008e-7) + float physics:mass = 0.009163293 + rel physics:simulationOwner + + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + } + + over "left_outer_finger" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.07670802, 0.084572695, 0.0000030642452) + float3 physics:diagonalInertia = (0.0000068156896, 0.00005354244, 0.0000575694) + float physics:mass = 0.07706425 + quatf physics:principalAxes = (0.6106747, 0.6106747, -0.35647783, -0.35647783) + rel physics:simulationOwner + + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + + def PhysicsFixedJoint "left_outer_finger_joint" + { + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (-3.616858e-12, -2.4539231e-12, -4.9107824e-28) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 9.020562e-17, -7.632783e-17, -2.1414481e-11) + quatf physics:localRot1 = (1, 0, 0, 0) + } + } + + over "left_inner_finger" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.16089, 0.08148, -0.0000014782973) + float3 physics:diagonalInertia = (0.0000030510976, 0.000019114448, 0.000017129656) + float physics:mass = 0.04983438 + quatf physics:principalAxes = (0.9941523, -0.00084205647, 0.00047910627, -0.1079824) + + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + } + + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + } + } + + over "left_inner_knuckle" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.048257977, 0.10101169, -4.593295e-9) + float3 physics:diagonalInertia = (0.000007310633, 0.0000453843, 0.00005109231) + float physics:mass = 0.06811222 + quatf physics:principalAxes = (0.63864726, -0.64404196, 0.29877865, -0.29676738) + rel physics:simulationOwner + + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + } + + over "right_outer_knuckle" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.05289377, 0.053183377, -2.193588e-18) + float3 physics:diagonalInertia = (2.1310669e-7, 6.734388e-7, 7.516008e-7) + float physics:mass = 0.009163293 + rel physics:simulationOwner + + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + + def PhysicsFixedJoint "right_outer_finger_joint" + { + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (3.6062071e-12, 2.44103e-12, 2.5514872e-17) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, -2.2221605e-18, 2.2221605e-18, 2.1320418e-11) + } + } + + over "right_outer_finger" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.07670802, 0.084572695, 0.0000030642452) + float3 physics:diagonalInertia = (0.0000068156896, 0.00005354244, 0.0000575694) + float physics:mass = 0.07706425 + quatf physics:principalAxes = (0.6106747, 0.6106747, -0.35647783, -0.35647783) + rel physics:simulationOwner + + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + } + + over "right_inner_finger" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.16088824, -0.08147714, -0.0000014782973) + float3 physics:diagonalInertia = (0.0000030510976, 0.000019114448, 0.000017129656) + float physics:mass = 0.04983438 + quatf physics:principalAxes = (0.9941524, -0.0007198045, 0.00064511795, 0.107981525) + + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + } + + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + } + } + + over "right_inner_knuckle" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.048257977, 0.10101169, -4.593295e-9) + float3 physics:diagonalInertia = (0.000007310633, 0.0000453843, 0.00005109231) + float physics:mass = 0.06811222 + quatf physics:principalAxes = (0.63864726, -0.64404196, 0.29877865, -0.29676738) + rel physics:simulationOwner + + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + } + + def PhysicsFixedJoint "root_joint" + { + custom rel physics:body1 + prepend rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0.15) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (6.123234e-17, 0.70710677, 4.3297803e-17, 0.70710677) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + def PhysicsRevoluteJoint "finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 3 + 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 = + point3f physics:localPos0 = (-2.5523844e-17, -0.030601146, 0.05466252) + point3f physics:localPos1 = (-0.030601146, 0.054904517, -6.162976e-32) + quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5) + quatf physics:localRot1 = (6.123234e-17, 6.123234e-17, -1, 6.123234e-17) + float physics:lowerLimit = 0 + float physics:upperLimit = 45 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 0 + float drive:angular:physics:targetPosition = 0 + float drive:angular:physics:targetVelocity = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (-2.326577e-17, 0.030601146, 0.05466252) + point3f physics:localPos1 = (-0.030601146, 0.054904517, -2.5672653e-18) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (6.123234e-17, 6.123234e-17, -1, 6.123234e-17) + float physics:lowerLimit = 0 + float physics:upperLimit = 75 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "left_inner_knuckle_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + uniform bool physics:excludeFromArticulation = 1 + point3f physics:localPos0 = (-2.814448e-17, -0.0127, 0.061178003) + point3f physics:localPos1 = (-0.0127, 0.06142, 0) + quatf physics:localRot0 = (-0.5, 0.5, 0.5, -0.5) + quatf physics:localRot1 = (1.1823733e-15, 1, 1.2635337e-11, -4.8699635e-16) + float physics:lowerLimit = -inf + float physics:upperLimit = inf + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_inner_knuckle_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + uniform bool physics:excludeFromArticulation = 1 + point3f physics:localPos0 = (-3.72337e-17, 0.0127, 0.061178003) + point3f physics:localPos1 = (-0.0127, 0.06142, 0) + quatf physics:localRot0 = (-0.5, 0.5, 0.5, -0.5) + quatf physics:localRot1 = (6.123234e-17, 0, 0, 1) + float physics:lowerLimit = -inf + float physics:upperLimit = inf + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "left_outer_finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 0 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "acceleration" + uniform token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + uniform bool physics:excludeFromArticulation = 0 + point3f physics:localPos0 = (-0.062025998, 0.050372288, 1.2325952e-32) + point3f physics:localPos1 = (-0.062025998, 0.050372288, 8.184432e-30) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_outer_finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 0 + uniform token drive:angular:physics:type = "acceleration" + uniform token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + uniform bool physics:excludeFromArticulation = 0 + point3f physics:localPos0 = (-0.062025998, 0.050372288, -1.2325952e-32) + point3f physics:localPos1 = (-0.062025998, 0.050372288, 2.5566664e-17) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "left_inner_finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.00001 + float drive:angular:physics:maxForce = 1 + float drive:angular:physics:stiffness = 0.002 + float drive:angular:physics:targetPosition = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + uniform bool physics:excludeFromArticulation = 0 + point3f physics:localPos0 = (-0.09745623, 0.12927116, 0) + point3f physics:localPos1 = (0.12902917, 0.09745623, 0) + quatf physics:localRot0 = (-1.6081226e-16, 1, 4.4886255e-32, -1.1957719e-17) + quatf physics:localRot1 = (5.0532154e-16, -0.70710677, 0.70710677, 5.168029e-16) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_inner_finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.00001 + float drive:angular:physics:maxForce = 1 + float drive:angular:physics:stiffness = 0.002 + float drive:angular:physics:targetPosition = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + uniform bool physics:excludeFromArticulation = 0 + point3f physics:localPos0 = (-0.09745623, 0.12927116, 0) + point3f physics:localPos1 = (0.12902917, -0.09745623, 0) + quatf physics:localRot0 = (-1.6081226e-16, 1, -3.2311323e-27, -1.1957719e-17) + quatf physics:localRot1 = (0.70710677, 1.0999103e-15, -8.806161e-17, 0.70710677) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + token visibility = "invisible" + } + + def PhysicsRevoluteJoint "right_inner_finger_pad_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 0 + float drive:angular:physics:targetPosition = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + uniform bool physics:excludeFromArticulation = 0 + point3f physics:localPos0 = (0.13554464, -0.07955509, 0) + point3f physics:localPos1 = (-0.07955509, 0.13578665, 0) + quatf physics:localRot0 = (0.70710677, -5.0381393e-16, 1.3193001e-15, 0.70710677) + quatf physics:localRot1 = (-3.8285688e-16, 1, 1.2578549e-11, 1.2142144e-15) + float physics:lowerLimit = -45 + float physics:upperLimit = 45 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "left_inner_finger_pad_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 0 + float drive:angular:physics:targetPosition = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + uniform bool physics:excludeFromArticulation = 0 + point3f physics:localPos0 = (0.13554464, 0.07955509, 0) + point3f physics:localPos1 = (-0.07955509, 0.13578665, 0) + quatf physics:localRot0 = (5.0532154e-16, -0.70710677, 0.70710677, 5.508117e-16) + quatf physics:localRot1 = (-8.269461e-16, 1, 1.2612578e-11, 9.284436e-17) + float physics:lowerLimit = -45 + float physics:upperLimit = 45 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "robotiq_base_link" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.000242, -1.9814578e-13, 3.4604155e-17) + float3 physics:diagonalInertia = (0.00009301462, 0.0000882971, 0.000026081625) + float physics:mass = 0.04351246 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } + ) + quatf physics:principalAxes = (0.9999719, -0.0004931656, 0.001501296, 0.007327927) + + over "_F_Body_01" + { + over "_F_Body" + { + over "_F_Body" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + } + } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysicsMaterialAPI"] + ) + { + float physics:dynamicFriction = 0.8 + float physics:staticFriction = 0.9 + } +} + diff --git a/robotiq_2f_140/payloads/Physics/physx_loop.usda b/robotiq_2f_140/payloads/Physics/physx_loop.usda new file mode 100644 index 0000000000000000000000000000000000000000..3624650688ef29c9dd5ff7b89deeda5cd8dde86e --- /dev/null +++ b/robotiq_2f_140/payloads/Physics/physx_loop.usda @@ -0,0 +1,221 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_140" + endTimeCode = 0 + metersPerUnit = 0.9999999776482582 + startTimeCode = -1 + subLayers = [ + @./physics.usda@ + ] + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Robotiq_2F_140" ( + prepend apiSchemas = ["PhysxArticulationAPI"] +) +{ + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + + over "left_outer_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + + over "Finger1" + { + over "Finger1" ( + ) + { + } + } + } + + over "left_outer_finger" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + + over "Finger2" + { + over "Finger2" ( + ) + { + } + } + } + + over "left_inner_finger" ( + prepend apiSchemas = ["PhysxContactReportAPI", "PhysxRigidBodyAPI"] + ) + { + float physxContactReport:threshold = 0 + bool physxRigidBody:disableGravity = 1 + bool physxRigidBody:enableCCD = 1 + float physxRigidBody:sleepThreshold = 0 + } + + over "left_inner_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + int physxRigidBody:solverPositionIterationCount = 32 + + over "Finger3" + { + over "Finger3" ( + ) + { + } + } + } + + over "right_outer_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + + over "Finger1" + { + over "Finger1" ( + ) + { + } + } + } + + over "right_outer_finger" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + + over "Finger2" + { + over "Finger2" ( + ) + { + } + } + } + + over "right_inner_finger" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + bool physxRigidBody:enableCCD = 1 + } + + over "right_inner_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + int physxRigidBody:solverPositionIterationCount = 32 + + over "Finger3" + { + over "Finger3" ( + ) + { + } + } + } + + over "finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 130 + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 130 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 1000 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "left_inner_knuckle_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + } + + over "right_inner_knuckle_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + } + + over "left_outer_finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + } + + over "right_outer_finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + } + + over "right_inner_finger_pad_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + } + + over "left_inner_finger_pad_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + } + + over "robotiq_base_link" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysxMaterialAPI"] + ) + { + bool physxMaterial:compliantContactAccelerationSpring = 0 + float physxMaterial:compliantContactStiffness = 0 + uniform token physxMaterial:frictionCombineMode = "max" + } +} + diff --git a/robotiq_2f_140/payloads/Physics/physx_mimic.usda b/robotiq_2f_140/payloads/Physics/physx_mimic.usda new file mode 100644 index 0000000000000000000000000000000000000000..495dd1b3ab7189d86c1c8ab7d7a1cc18e4cb9ee2 --- /dev/null +++ b/robotiq_2f_140/payloads/Physics/physx_mimic.usda @@ -0,0 +1,373 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_140" + endTimeCode = 0 + metersPerUnit = 0.9999999776482582 + startTimeCode = -1 + subLayers = [ + @./physics.usda@ + ] + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Robotiq_2F_140" ( + prepend apiSchemas = ["PhysxArticulationAPI"] +) +{ + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + + over "left_outer_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + bool physxRigidBody:disableGravity = 1 + + over "Finger1" + { + over "Finger1" ( + ) + { + } + } + } + + over "left_outer_finger" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + + def PhysicsFixedJoint "left_outer_finger_joint" + { + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (-3.616858e-12, -2.4539231e-12, -4.9107824e-28) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 9.020562e-17, -7.632783e-17, -2.1414481e-11) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + over "Finger2" + { + over "Finger2" ( + ) + { + } + } + } + + over "left_inner_finger" ( + prepend apiSchemas = ["PhysxContactReportAPI", "PhysxRigidBodyAPI"] + ) + { + float physxContactReport:threshold = 0 + bool physxRigidBody:disableGravity = 1 + bool physxRigidBody:enableCCD = 1 + float physxRigidBody:sleepThreshold = 0 + } + + over "left_inner_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + int physxRigidBody:solverPositionIterationCount = 32 + + over "Finger3" + { + over "Finger3" ( + ) + { + } + } + } + + over "right_outer_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + + def PhysicsFixedJoint "right_outer_finger_joint" + { + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (3.6062071e-12, 2.44103e-12, 2.5514872e-17) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, -2.2221605e-18, 2.2221605e-18, 2.1320418e-11) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + over "Finger1" + { + over "Finger1" ( + ) + { + } + } + } + + over "right_outer_finger" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + bool physxRigidBody:disableGravity = 1 + + over "Finger2" + { + over "Finger2" ( + ) + { + } + } + } + + over "right_inner_finger" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + bool physxRigidBody:enableCCD = 1 + } + + over "right_inner_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + int physxRigidBody:solverPositionIterationCount = 32 + + over "Finger3" + { + over "Finger3" ( + ) + { + } + } + } + + over "finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 3 + float drive:angular:physics:targetPosition = 0 + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 130 + } + + over "right_outer_knuckle_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 130 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 1000 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "left_inner_knuckle_joint" ( + active = false + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + } + + over "right_inner_knuckle_joint" ( + active = false + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + } + + over "left_outer_finger_joint" ( + active = false + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + } + + over "right_outer_finger_joint" ( + active = false + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + } + + over "left_inner_finger_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 0 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "right_inner_finger_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:gearing = 1 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "right_inner_finger_pad_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:gearing = -1 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "left_inner_finger_pad_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:gearing = -1 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "robotiq_base_link" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysxMaterialAPI"] + ) + { + bool physxMaterial:compliantContactAccelerationSpring = 0 + float physxMaterial:compliantContactStiffness = 0 + uniform token physxMaterial:frictionCombineMode = "max" + } +} + +def PhysicsScene "PhysicsScene" ( + prepend apiSchemas = ["NewtonSceneAPI", "PhysxSceneAPI"] +) +{ +} + diff --git a/robotiq_2f_140/payloads/base.usda b/robotiq_2f_140/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..32a3daa489844399b6aaeffbe2e60ca6f268ade8 --- /dev/null +++ b/robotiq_2f_140/payloads/base.usda @@ -0,0 +1,349 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_140" + endTimeCode = 0 + metersPerUnit = 0.9999999776482582 + startTimeCode = -1 + subLayers = [ + @./robot.usda@ + ] + timeCodesPerSecond = 60 + upAxis = "Z" +) + +def Xform "Robotiq_2F_140" +{ + 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"] + uniform token[] xformOpOrder = [] + + def Xform "left_outer_knuckle" ( + instanceable = false + ) + { + quatd xformOp:orient = (0.7071067811865986, 4.902349974783143e-16, 6.096901636101399e-16, -0.7071067811864964) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.00024200000540691987, 3.8771718906765497e-14, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Finger1" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Finger1" + { + } + } + } + + def Xform "left_outer_finger" ( + instanceable = false + ) + { + quatd xformOp:orient = (-0.7071067811714563, -5.000480753317283e-16, -4.919332292219785e-16, 0.7071067812016387) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.00024200000786084308, 3.655629602850554e-12, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Finger2" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Finger2" + { + } + } + } + + def Xform "left_inner_finger" ( + instanceable = false + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Fingertip_01" ( + prepend apiSchemas = ["MaterialBindingAPI"] + instanceable = false + ) + { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) + quatd xformOp:orient = (-0.7071067811865318, -1.3818123242633708e-15, -2.712663678121599e-16, 0.7071067811865621) + double3 xformOp:translate = (-0.00024200000375155698, -1.3298270597270197e-12, 7.245392490876546e-16) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Xform "Fingertip" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Fingertip" + { + } + } + } + + def Xform "Finger4_01" ( + instanceable = false + ) + { + quatd xformOp:orient = (-0.7071067811865318, -1.3818123242633708e-15, -2.712663678121599e-16, 0.7071067811865621) + double3 xformOp:translate = (-0.0002420000037471161, -1.3206122084166631e-12, 2.2493887683942214e-16) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Xform "Finger4" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Finger4" + { + } + } + } + + def IsaacContactSensor "Contact_Sensor" + { + float4 color = (1, 0, 0, 1) + bool enabled = 1 + float radius = -1 + float sensorPeriod = -1 + float2 threshold = (0, 100000) + 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 "left_inner_knuckle" ( + prepend apiSchemas = ["MaterialBindingAPI"] + instanceable = false + ) + { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) + quatd xformOp:orient = (-0.707106781177613, -1.088488258189625e-16, -1.0880323113196409e-15, 0.7071067811954821) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.00024200000572815547, 1.4956748502000008e-12, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Finger3" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Finger3" + { + } + } + } + + def Xform "right_outer_knuckle" ( + instanceable = false + ) + { + quatd xformOp:orient = (-1.048990684667789e-15, 0.7071067811865456, 0.7071067811865495, 1.2521301036646133e-16) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.0002420000054116942, 4.67488709051141e-14, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Finger1" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Finger1" + { + } + } + } + + def Xform "right_outer_finger" ( + instanceable = false + ) + { + quatd xformOp:orient = (-1.048990684667789e-15, 0.7071067811714697, 0.7071067812016253, 1.2207040080738798e-16) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.0002420000078527243, -3.559458363235193e-12, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Finger2" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Finger2" + { + } + } + } + + def Xform "right_inner_finger" ( + instanceable = false + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Finger4_01" ( + instanceable = false + ) + { + quatd xformOp:orient = (-4.895440348255201e-16, 0.70710678118655, 0.7071067811865452, -1.5988453803620015e-15) + double3 xformOp:translate = (-0.00024200000374420774, 1.4220170498113577e-12, -5.788657334949278e-16) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Xform "Finger4" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Finger4" + { + } + } + } + + def Xform "Fingertip_01" ( + prepend apiSchemas = ["MaterialBindingAPI"] + instanceable = false + ) + { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) + quatd xformOp:orient = (-9.38098838826452e-16, 0.7071067811865481, 0.7071067811865474, -1.3097317225518778e-15) + double3 xformOp:translate = (-0.0002420000037487319, 1.4308988342068823e-12, -1.0784661057431908e-15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Xform "Fingertip" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Fingertip" + { + } + } + } + } + + def Xform "right_inner_knuckle" ( + prepend apiSchemas = ["MaterialBindingAPI"] + instanceable = false + ) + { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) + quatd xformOp:orient = (-1.6081226496766364e-16, 0.7071067811776556, 0.7071067811954395, -2.667677072077055e-16) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.0002420000057306303, -1.3997540118790104e-12, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Finger3" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Finger3" + { + } + } + } + + def Xform "robotiq_base_link" ( + instanceable = false + ) + { + quatd xformOp:orient = (6.123233995736766e-17, 0.7071067811865476, 4.329780281177466e-17, 0.7071067811865475) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "_F_Body_01" ( + instanceable = false + ) + { + quatd xformOp:orient = (0.5000000000000001, 0.49999999999999994, 0.5, 0.5) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.00024200000000245306, -1.9814576843499938e-13, 3.460415520721716e-17) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "_F_Body" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "_F_Body" + { + } + } + } + + def Xform "grasp_frame" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.14 + custom float gripper_maxPayload = 2 + string isaac:Description = "Parallel-jaw grasp center" + token simready:attactment:socketType = "Gripper" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (3.511745904322756e-17, -4.0113266590528364e-18, 0.1581549754612783) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0, 0.05)] + point3f[] points = [(0, 0, 0), (0, 0, 0.05)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(-0.015, 0, 0), (0.015, 0, 0)] + point3f[] points = [(-0.015, 0, 0), (0.015, 0, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + } + + def Material "fingertip_material" ( + active = true + ) + { + } + + def Scope "VisualMaterials" + { + } +} + diff --git a/robotiq_2f_140/payloads/geometries.usd b/robotiq_2f_140/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..52dcb83ad4a18cd961b913efa4e6d06b66edc535 --- /dev/null +++ b/robotiq_2f_140/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4060e9ed23b938ebb8e2893f6e1e63effafd4486966de4916743e598d0a2fb6c +size 5107041 diff --git a/robotiq_2f_140/payloads/instances.usda b/robotiq_2f_140/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..e98f39d146ee6eac35ffaa8684a9736e99bbcfc1 --- /dev/null +++ b/robotiq_2f_140/payloads/instances.usda @@ -0,0 +1,726 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 0.9999999776482582 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +def Scope "Instances" +{ + def Xform "Finger1" ( + prepend references = @./geometries.usd@ + ) + { + over "Finger1" ( + apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] + custom rel material:binding + prepend rel material:binding = + bool physics:collisionEnabled = 1 + } + + def Scope "VisualMaterials" + { + def Material "Pumice" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.78431374, 0.78431374, 0.78431374) + float inputs:metallic = 1 + float inputs:opacity = 1 + float inputs:roughness = 0.22 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Finger2" ( + prepend references = @./geometries.usd@ + ) + { + over "Finger2" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] + bool physics:collisionEnabled = 1 + + over "Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Geyser" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49411765, 0.49411765, 0.49411765) + 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 Material "Geyser" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8117647, 0.85882354, 0.8980392) + float inputs:metallic = 1 + float inputs:opacity = 1 + float inputs:roughness = 0.26 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0.29999998 + float inputs:opacity = 1 + float inputs:roughness = 0.45 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Fingertip" ( + prepend references = @./geometries.usd@ + ) + { + over "Fingertip" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] + bool physics:collisionEnabled = 1 + + over "Gray_Nurse" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Gray_Nurse" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.91764706, 0.91764706, 0.91764706) + float inputs:metallic = 1 + float inputs:opacity = 1 + float inputs:roughness = 0.62 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0.29999998 + float inputs:opacity = 1 + float inputs:roughness = 0.45 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Finger4" ( + prepend references = @./geometries.usd@ + ) + { + over "Finger4" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] + bool physics:collisionEnabled = 1 + + over "Periwinkle_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Geyser" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Periwinkle_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334) + float inputs:metallic = 0.94 + float inputs:opacity = 1 + float inputs:roughness = 0.71999997 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Geyser" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8117647, 0.85882354, 0.8980392) + float inputs:metallic = 1 + float inputs:opacity = 1 + float inputs:roughness = 0.26 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0.29999998 + float inputs:opacity = 1 + float inputs:roughness = 0.45 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Finger3" ( + prepend references = @./geometries.usd@ + ) + { + over "Finger3" ( + apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] + custom rel material:binding + prepend rel material:binding = + bool physics:collisionEnabled = 1 + } + + def Scope "VisualMaterials" + { + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0.29999998 + float inputs:opacity = 1 + float inputs:roughness = 0.45 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "_F_Body" ( + prepend references = @./geometries.usd@ + ) + { + over "_F_Body" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] + bool physics:collisionEnabled = 1 + + over "Mystic" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "San_Marino" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Geyser" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Gravel" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Periwinkle_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Gallery" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Chateau_Green" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "White" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Mystic" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8980392, 0.91764706, 0.92941177) + float inputs:metallic = 0.31 + float inputs:opacity = 1 + float inputs:roughness = 0.51 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0.29999998 + float inputs:opacity = 1 + float inputs:roughness = 0.45 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "San_Marino" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.23137255, 0.38039216, 0.7058824) + color3f inputs:emissiveColor = (1156.8628, 1901.9608, 3529.4119) + 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 Material "Geyser" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8117647, 0.85882354, 0.8980392) + float inputs:metallic = 1 + float inputs:opacity = 1 + float inputs:roughness = 0.26 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Gravel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.29803923, 0.29803923, 0.29803923) + 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 Material "Periwinkle_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334) + float inputs:metallic = 0.94 + float inputs:opacity = 1 + float inputs:roughness = 0.71999997 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Gallery" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.9372549, 0.9372549, 0.9372549) + 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 Material "Chateau_Green" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.28627452, 0.6627451, 0.32941177) + 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 Material "White" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + 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/robotiq_2f_140/payloads/materials.usda b/robotiq_2f_140/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..6c86f1c6d7e59cb0191671c31fb21d756a209d93 --- /dev/null +++ b/robotiq_2f_140/payloads/materials.usda @@ -0,0 +1,1171 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 0.9999999776482582 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "Gray_Nurse" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "rubber" + 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 "Shader" ( + 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 = (0.91764706, 0.91764706, 0.91764706) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + doc = "This is the albedo base color" + hidden = false + ) + color3f inputs:emissive_color = (0, 0, 0) ( + customData = { + float3 default = (1, 0.1, 0.1) + } + displayGroup = "Emissive" + doc = "The emission color" + hidden = false + ) + float inputs:emissive_intensity = 0 ( + customData = { + double default = 40 + } + displayGroup = "Emissive" + doc = "Intensity of the emission" + hidden = false + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + doc = "Enables the emission of light from the material" + hidden = false + ) + float inputs:metallic_constant = 1 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Metallic Material" + hidden = false + ) + float inputs:reflection_roughness_constant = 0.62 ( + customData = { + double default = 0.5 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Higher roughness values lead to more blurry reflections" + hidden = false + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.91764706, 0.91764706, 0.91764706) + float inputs:metallic = 1 + float inputs:opacity = 1 + float inputs:roughness = 0.62 + 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 + } + } + + def Material "Cod_Gray" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + 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 "Shader" ( + 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 = (0.039215688, 0.039215688, 0.039215688) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + doc = "This is the albedo base color" + hidden = false + ) + color3f inputs:emissive_color = (0, 0, 0) ( + customData = { + float3 default = (1, 0.1, 0.1) + } + displayGroup = "Emissive" + doc = "The emission color" + hidden = false + ) + float inputs:emissive_intensity = 0 ( + customData = { + double default = 40 + } + displayGroup = "Emissive" + doc = "Intensity of the emission" + hidden = false + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + doc = "Enables the emission of light from the material" + hidden = false + ) + float inputs:metallic_constant = 0.29999998 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Metallic Material" + hidden = false + ) + float inputs:reflection_roughness_constant = 0.45 ( + customData = { + double default = 0.5 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Higher roughness values lead to more blurry reflections" + hidden = false + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0.29999998 + float inputs:opacity = 1 + float inputs:roughness = 0.45 + 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 + } + } + + def Material "Periwinkle_Gray" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + 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 "Shader" ( + 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 = (0.7921569, 0.81960785, 0.93333334) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + doc = "This is the albedo base color" + hidden = false + ) + color3f inputs:emissive_color = (0, 0, 0) ( + customData = { + float3 default = (1, 0.1, 0.1) + } + displayGroup = "Emissive" + doc = "The emission color" + hidden = false + ) + float inputs:emissive_intensity = 0 ( + customData = { + double default = 40 + } + displayGroup = "Emissive" + doc = "Intensity of the emission" + hidden = false + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + doc = "Enables the emission of light from the material" + hidden = false + ) + float inputs:metallic_constant = 0.94 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Metallic Material" + hidden = false + ) + float inputs:reflection_roughness_constant = 0.71999997 ( + customData = { + double default = 0.5 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Higher roughness values lead to more blurry reflections" + hidden = false + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334) + float inputs:metallic = 0.94 + float inputs:opacity = 1 + float inputs:roughness = 0.71999997 + 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 + } + } + + def Material "Geyser" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + 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 "Shader" ( + 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 = (0.8117647, 0.85882354, 0.8980392) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + doc = "This is the albedo base color" + hidden = false + ) + color3f inputs:emissive_color = (0, 0, 0) ( + customData = { + float3 default = (1, 0.1, 0.1) + } + displayGroup = "Emissive" + doc = "The emission color" + hidden = false + ) + float inputs:emissive_intensity = 0 ( + customData = { + double default = 40 + } + displayGroup = "Emissive" + doc = "Intensity of the emission" + hidden = false + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + doc = "Enables the emission of light from the material" + hidden = false + ) + float inputs:metallic_constant = 1 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Metallic Material" + hidden = false + ) + float inputs:reflection_roughness_constant = 0.26 ( + customData = { + double default = 0.5 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Higher roughness values lead to more blurry reflections" + hidden = false + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8117647, 0.85882354, 0.8980392) + float inputs:metallic = 1 + float inputs:opacity = 1 + float inputs:roughness = 0.26 + 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 + } + } + + def Material "Gray" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + 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 "Shader" ( + 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 = (0.49411765, 0.49411765, 0.49411765) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49411765, 0.49411765, 0.49411765) + 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 + } + } + + def Material "Mystic" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + 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 "Shader" ( + 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 = (0.8980392, 0.91764706, 0.92941177) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + doc = "This is the albedo base color" + hidden = false + ) + color3f inputs:emissive_color = (0, 0, 0) ( + customData = { + float3 default = (1, 0.1, 0.1) + } + displayGroup = "Emissive" + doc = "The emission color" + hidden = false + ) + float inputs:emissive_intensity = 0 ( + customData = { + double default = 40 + } + displayGroup = "Emissive" + doc = "Intensity of the emission" + hidden = false + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + doc = "Enables the emission of light from the material" + hidden = false + ) + float inputs:metallic_constant = 0.31 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Metallic Material" + hidden = false + ) + float inputs:reflection_roughness_constant = 0.51 ( + customData = { + double default = 0.5 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Higher roughness values lead to more blurry reflections" + hidden = false + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8980392, 0.91764706, 0.92941177) + float inputs:metallic = 0.31 + float inputs:opacity = 1 + float inputs:roughness = 0.51 + 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 + } + } + + def Material "San_Marino" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + 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 "Shader" ( + 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 = (0.23137255, 0.38039216, 0.7058824) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + doc = "This is the albedo base color" + hidden = false + ) + color3f inputs:emissive_color = (0.23137255, 0.38039216, 0.7058824) ( + customData = { + float3 default = (1, 0.1, 0.1) + } + displayGroup = "Emissive" + doc = "The emission color" + hidden = false + ) + float inputs:emissive_intensity = 5000 ( + customData = { + double default = 40 + } + displayGroup = "Emissive" + doc = "Intensity of the emission" + hidden = false + ) + bool inputs:enable_emission = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + doc = "Enables the emission of light from the material" + hidden = false + ) + float inputs:metallic_constant = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Metallic Material" + hidden = false + ) + float inputs:reflection_roughness_constant = 0.5 ( + customData = { + double default = 0.5 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Higher roughness values lead to more blurry reflections" + hidden = false + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.23137255, 0.38039216, 0.7058824) + color3f inputs:emissiveColor = (1156.8628, 1901.9608, 3529.4119) + 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 + } + } + + def Material "Gravel" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + 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 "Shader" ( + 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 = (0.29803923, 0.29803923, 0.29803923) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.29803923, 0.29803923, 0.29803923) + 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 + } + } + + def Material "Gallery" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + 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 "Shader" ( + 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 = (0.9372549, 0.9372549, 0.9372549) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + doc = "This is the albedo base color" + hidden = false + ) + color3f inputs:emissive_color = (0, 0, 0) ( + customData = { + float3 default = (1, 0.1, 0.1) + } + displayGroup = "Emissive" + doc = "The emission color" + hidden = false + ) + float inputs:emissive_intensity = 0 ( + customData = { + double default = 40 + } + displayGroup = "Emissive" + doc = "Intensity of the emission" + hidden = false + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + doc = "Enables the emission of light from the material" + hidden = false + ) + float inputs:metallic_constant = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Metallic Material" + hidden = false + ) + float inputs:reflection_roughness_constant = 0.5 ( + customData = { + double default = 0.5 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Higher roughness values lead to more blurry reflections" + hidden = false + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.9372549, 0.9372549, 0.9372549) + 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 + } + } + + def Material "Chateau_Green" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + 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 "Shader" ( + 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 = (0.28627452, 0.6627451, 0.32941177) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.28627452, 0.6627451, 0.32941177) + 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 + } + } + + def Material "White" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + 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 "Shader" ( + 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 = (1, 1, 1) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + 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 + } + } + + def Material "Pumice" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + 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 "Shader" ( + 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 = (0.78431374, 0.78431374, 0.78431374) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + doc = "This is the albedo base color" + hidden = false + ) + color3f inputs:emissive_color = (0, 0, 0) ( + customData = { + float3 default = (1, 0.1, 0.1) + } + displayGroup = "Emissive" + doc = "The emission color" + hidden = false + ) + float inputs:emissive_intensity = 0 ( + customData = { + double default = 40 + } + displayGroup = "Emissive" + doc = "Intensity of the emission" + hidden = false + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + doc = "Enables the emission of light from the material" + hidden = false + ) + float inputs:metallic_constant = 1 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Metallic Material" + hidden = false + ) + float inputs:reflection_roughness_constant = 0.22 ( + customData = { + double default = 0.5 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Higher roughness values lead to more blurry reflections" + hidden = false + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.78431374, 0.78431374, 0.78431374) + float inputs:metallic = 1 + float inputs:opacity = 1 + float inputs:roughness = 0.22 + 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/robotiq_2f_140/payloads/robot.usda b/robotiq_2f_140/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..1e164ddb71ae2d88964893672f53927a3d17cb6a --- /dev/null +++ b/robotiq_2f_140/payloads/robot.usda @@ -0,0 +1,260 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_140" + endTimeCode = 0 + metersPerUnit = 0.9999999776482582 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Robotiq_2F_140" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string[] isaac:changelog ( + displayName = "Changelog" + ) + string isaac:description ( + displayName = "Description" + ) + token isaac:license ( + displayName = "License" + ) + string isaac:namespace ( + displayName = "Namespace" + doc = "Namespace of the prim in Isaac Sim" + ) + rel isaac:physics:robotJoints ( + displayName = "Robot Joints" + ) + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + , + , + ] + rel isaac:physics:robotLinks ( + displayName = "Robot Links" + ) + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType = "End Effector" ( + displayName = "Robot Type" + ) + string isaac:source ( + displayName = "Source" + ) + string isaac:version ( + displayName = "Version" + ) + + over "left_outer_knuckle" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Finger1" + { + over "Finger1" ( + ) + { + } + } + } + + over "left_outer_finger" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Finger2" + { + over "Finger2" ( + ) + { + } + } + } + + over "left_inner_finger" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + } + + over "left_inner_knuckle" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Finger3" + { + over "Finger3" ( + ) + { + } + } + } + + over "right_outer_knuckle" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Finger1" + { + over "Finger1" ( + ) + { + } + } + } + + over "right_outer_finger" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Finger2" + { + over "Finger2" ( + ) + { + } + } + } + + over "right_inner_finger" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + } + + over "right_inner_knuckle" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + + over "Finger3" + { + over "Finger3" ( + ) + { + } + } + } + + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "finger_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "left_inner_knuckle_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_inner_knuckle_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "left_outer_finger_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_outer_finger_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_inner_finger_pad_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "left_inner_finger_pad_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "robotiq_base_link" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + + over "grasp_frame" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description ( + displayName = "Reference Description" + ) + uniform token isaac:forwardAxis ( + displayName = "Forward Axis" + ) + } + } +} + diff --git a/robotiq_2f_140/runnables/physics/mujoco.usda b/robotiq_2f_140/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..01448f2d2efff5fdaff580e00a86e25d78348125 --- /dev/null +++ b/robotiq_2f_140/runnables/physics/mujoco.usda @@ -0,0 +1,258 @@ +#usda 1.0 +( + defaultPrim = "Robotiq_2F_140" +) + +def "Robotiq_2F_140" +{ + over "left_outer_knuckle" + { + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_outer_finger" + { + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_inner_finger" + { + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "left_inner_knuckle" + { + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_knuckle" + { + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_finger" + { + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_inner_finger" + { + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "right_inner_knuckle" + { + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "robotiq_base_link" + { + over "_F_Body_01" + { + over "_F_Body" + { + over "_F_Body" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "grasp_frame" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "finger_joint" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + def "MuJoCoActuators" + { + def MjcActuator "act_Robotiq_2F_140_finger_joint" ( + 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, -171.88733853924697, -0.05729578223448582] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 26 + double mjc:forceRange:min = -26 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "left_outer_finger_joint" ( + active = false + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "right_outer_finger_joint" ( + active = false + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_inner_finger_pad_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "left_inner_finger_pad_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } +} + diff --git a/robotiq_2f_140/runnables/physics/newton.usda b/robotiq_2f_140/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..e97c5e970d23de33580ab61f8c9d9bcdab0c1307 --- /dev/null +++ b/robotiq_2f_140/runnables/physics/newton.usda @@ -0,0 +1,279 @@ +#usda 1.0 +( + defaultPrim = "Robotiq_2F_140" +) + +over "Robotiq_2F_140" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] +) +{ + bool newton:selfCollisionEnabled = 0 + + over "left_outer_knuckle" + { + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_outer_finger" + { + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_inner_finger" + { + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "left_inner_knuckle" + { + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_knuckle" + { + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_finger" + { + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_inner_finger" + { + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "right_inner_knuckle" + { + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "robotiq_base_link" + { + over "_F_Body_01" + { + over "_F_Body" + { + over "_F_Body" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 7.5 + float newton:armature = 0.1 + float newton:damping = 0.25 + float newton:velocityLimit = 130 + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 130 + } + + over "left_outer_finger_joint" ( + active = false + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float newton:velocityLimit = 1000000 + } + + over "right_outer_finger_joint" ( + active = false + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float newton:velocityLimit = 1000000 + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 1000000 + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 1000000 + } + + over "right_inner_finger_pad_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 1000000 + } + + over "left_inner_finger_pad_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 1000000 + } + + over "left_inner_knuckle_joint" ( + active = false + ) + { + } + + over "right_inner_knuckle_joint" ( + active = false + ) + { + } +} + diff --git a/robotiq_2f_140/runnables/physics/physx.usda b/robotiq_2f_140/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..d03b2f4dfcc35081d2ac18a36861e9f6ccaeaf1f --- /dev/null +++ b/robotiq_2f_140/runnables/physics/physx.usda @@ -0,0 +1,485 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_140" + endTimeCode = 0 + metersPerUnit = 0.9999999776482582 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Robotiq_2F_140" ( + prepend apiSchemas = ["PhysxArticulationAPI"] +) +{ + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + + over "left_outer_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + bool physxRigidBody:disableGravity = 1 + + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_outer_finger" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + + over "left_outer_finger_joint" + { + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (-3.616858e-12, -2.4539231e-12, -4.9107824e-28) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 9.020562e-17, -7.632783e-17, -2.1414481e-11) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_inner_finger" ( + prepend apiSchemas = ["PhysxContactReportAPI", "PhysxRigidBodyAPI"] + ) + { + uniform token physics:approximation = "convexDecomposition" + float physxContactReport:threshold = 0 + bool physxRigidBody:disableGravity = 1 + bool physxRigidBody:enableCCD = 1 + float physxRigidBody:sleepThreshold = 0 + + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + uniform token physics:approximation = "convexDecomposition" + } + } + } + + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "left_inner_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + int physxRigidBody:solverPositionIterationCount = 32 + + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + + over "right_outer_finger_joint" + { + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (3.6062071e-12, 2.44103e-12, 2.5514872e-17) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, -2.2221605e-18, 2.2221605e-18, 2.1320418e-11) + } + + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_finger" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + bool physxRigidBody:disableGravity = 1 + + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_inner_finger" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + uniform token physics:approximation = "convexDecomposition" + bool physxRigidBody:disableGravity = 1 + bool physxRigidBody:enableCCD = 1 + + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + uniform token physics:approximation = "convexDecomposition" + } + } + } + } + + over "right_inner_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + int physxRigidBody:solverPositionIterationCount = 32 + + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 3 + float drive:angular:physics:targetPosition = 0 + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 130 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "right_outer_knuckle_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 130 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "left_inner_knuckle_joint" ( + active = false + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "right_inner_knuckle_joint" ( + active = false + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "left_outer_finger_joint" ( + active = false + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "right_outer_finger_joint" ( + active = false + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "left_inner_finger_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "right_inner_finger_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "right_inner_finger_pad_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "left_inner_finger_pad_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "robotiq_base_link" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + uniform token physics:approximation = "convexHull" + + over "_F_Body_01" + { + over "_F_Body" + { + over "_F_Body" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysxMaterialAPI"] + ) + { + bool physxMaterial:compliantContactAccelerationSpring = 0 + float physxMaterial:compliantContactStiffness = 0 + uniform token physxMaterial:frictionCombineMode = "max" + } +} + diff --git a/robotiq_2f_140/source_assets/OmniPBR.mdl b/robotiq_2f_140/source_assets/OmniPBR.mdl new file mode 100644 index 0000000000000000000000000000000000000000..2937decbf0c38e1175d499a0ad2ca3a311c470a4 --- /dev/null +++ b/robotiq_2f_140/source_assets/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 ::nvidia::core_definitions::file_texture; +import ::nvidia::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_85/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/robotiq_2f_85/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json new file mode 100644 index 0000000000000000000000000000000000000000..fd38ee0ea97a8f302a286d826d3cfab758a5dcaa --- /dev/null +++ b/robotiq_2f_85/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -0,0 +1,34 @@ +{ + "format_version": "1.0", + "profile": "Package-Candidate", + "profile_version": "1.0.0", + "timestamp": "2026-11-04T23:14:30", + "assets": [ + { + "asset": "2F_85.usda", + "features": [ + { + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "version": "0-1-0", + "passed": true, + "failing_requirements": [], + "dependencies": [] + } + }, + { + "CAP033_SimReadyPackage.OpenUSD.0-1-0": { + "version": "0-1-0", + "passed": true, + "failing_requirements": [], + "dependencies": [ + "CAP031_SelfContainedPackage.OpenUSD.0-1-0" + ] + } + } + ] + } + ], + "content_hash": { + "sha256": "b5458a5308da874fc30caf330a4972e9522191a818fb859d3a23622bc3797220" + } +} diff --git a/robotiq_2f_85/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/robotiq_2f_85/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json new file mode 100644 index 0000000000000000000000000000000000000000..398e74f66bc3cd3351a5c883f1f87698b2e09cc0 --- /dev/null +++ b/robotiq_2f_85/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -0,0 +1,31 @@ +{ + "format_version": "1.0", + "profile": "Package", + "profile_version": "1.1.0", + "timestamp": "2026-11-04T23:14:32", + "assets": [ + { + "asset": "com.nvidia.simready.packaging.json", + "features": [ + { + "CAP030_PackagingCore.OpenUSD.0-2-0": { + "version": "0.0.0", + "passed": true, + "failing_requirements": [], + "dependencies": [] + } + }, + { + "CAP032_PackagingIntrospection.OpenUSD.0-2-0": { + "version": "0.0.0", + "passed": true, + "failing_requirements": [], + "dependencies": [ + "CAP030_PackagingCore.OpenUSD.0-2-0" + ] + } + } + ] + } + ] +} diff --git a/robotiq_2f_85/.metadata/com.nvidia.simready.packaging.bom.json b/robotiq_2f_85/.metadata/com.nvidia.simready.packaging.bom.json new file mode 100644 index 0000000000000000000000000000000000000000..2033c632d338d62bb1e4b3eccf43cebb2c7a5b41 --- /dev/null +++ b/robotiq_2f_85/.metadata/com.nvidia.simready.packaging.bom.json @@ -0,0 +1,175 @@ +{ + "format_version": "1.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-gripper-package_1.0/.packages/robotiq_2f_85/1.0.0", + "items": [ + { + "relative_path": ".thumbs/256x256/2F_85.usda.png", + "size": 47902, + "hash": { + "sha256-flat-1mb": "acac32562e5866a6c5b9cb752f28088e479b430902502b803e0f11510f7556ea", + "sha256": "045162c47b61a0ce1b97f63aa58653d49a3a9e6d3fe61e5c3c1e21cb05e075b3" + } + }, + { + "relative_path": "2F_85.usda", + "size": 101691, + "hash": { + "sha256-flat-1mb": "d6b31890055ba62771e6c522314a9eac446d435f99534c73069a39f4f21e01f6", + "sha256": "5169cb816bdecbebc3a8d53e41ded67e17081592448074bcaacc91ac01342437" + } + }, + { + "relative_path": "materials/mdl/OmniPBR.mdl", + "size": 13969, + "hash": { + "sha256-flat-1mb": "1c58f77068df165a71676dfde42a4b7e4932a82cacacfc7a205ae94fc0332aaf", + "sha256": "c902cc38dc97ff6a89fe94dca94edfb523a30e3749d3708610a136867c3357bf" + } + }, + { + "relative_path": "materials/mdl/OmniPBRBase.mdl", + "size": 17274, + "hash": { + "sha256-flat-1mb": "4b54e7fb8bc92191512851b3acc6fc6fa9863f80d98ffece8f0cb9b99f5f4535", + "sha256": "701f37299b44106842bdbe025de52eedec391e35b038f61c4ed4d25bd98e7db1" + } + }, + { + "relative_path": "materials/mdl/OmniPBR_ClearCoat.mdl", + "size": 27433, + "hash": { + "sha256-flat-1mb": "b1f146a3767a5012936e3d246f2697c3536c2f72b5c5963d3bca0998d02f8931", + "sha256": "085ba661b49042570e24cda09c939e5aebf312ae332af92744a99bd3abbfbee4" + } + }, + { + "relative_path": "materials/mdl/aux_definitions.mdl", + "size": 101769, + "hash": { + "sha256-flat-1mb": "6a5ffcb49e18ade213c3a4d79cf171d66612f9eee045074a0b937dbe4cf01ef6", + "sha256": "ebb81c8977aeb30790399ec7aaa7f2f76cb23afb434f56201ef152aba45a6e81" + } + }, + { + "relative_path": "materials/mdl/core_definitions.mdl", + "size": 201537, + "hash": { + "sha256-flat-1mb": "54bdc55e3899f126b1e271eef4de9c5966b1390fb3143872846f29f0ca68378d", + "sha256": "052aec260e8dfef5d671545fc2fc28c0c478a5b043041c65a833b2a6d81bf950" + } + }, + { + "relative_path": "materials/mdl/license.txt", + "size": 3220, + "hash": { + "sha256-flat-1mb": "d54635995b7794c6549d0f7c70586e739c1e24cb671ce966e64a8c1a6703a452", + "sha256": "d62e1bd5e34d0ca6f92f0e9f10670ee0cd586695e20f0a838a8f859119589683" + } + }, + { + "relative_path": "materials/mdl/support_definitions.mdl", + "size": 147454, + "hash": { + "sha256-flat-1mb": "2b93c649c03f3ef48fb24cc6baba953df1f9dd4e7e860719bc3322fc3e789aba", + "sha256": "bb372f21b6e81d293b99fea6819a8309e2c33c732c7151752b4b33dade177f2e" + } + }, + { + "relative_path": "payloads/Physics/None.usda", + "size": 392, + "hash": { + "sha256-flat-1mb": "cbb22884d951f6c9adc0d26334b5be1e8702b58356874f05882842f74e1fe2f5", + "sha256": "1389642900e451d5f50622970674c9df47d3c529682724cf4002c725684e08c2" + } + }, + { + "relative_path": "payloads/Physics/Physics.usda", + "size": 17301, + "hash": { + "sha256-flat-1mb": "d3496c592b0ccf759c3e9eb078a8ba01bcc81bff64e6677d6d071b2852f40222", + "sha256": "b2d13b996f9607cf0d42b61c0cf2fabd416df9bd1f45f26956603ad44ffe1ba7" + } + }, + { + "relative_path": "payloads/Physics/Physx_Loop.usda", + "size": 11051, + "hash": { + "sha256-flat-1mb": "893f6ed84d3fd039b974cadb92ba6fcf9606e6d7532ae9a0b32b0974d434df64", + "sha256": "cb6c83f9b658495f7b7128e6be9446d0f139b35a679f830b0aaa4ba3beceb458" + } + }, + { + "relative_path": "payloads/Physics/Physx_Mimic.usda", + "size": 3026, + "hash": { + "sha256-flat-1mb": "0eae64306705e206a399402a47ed6f0485c1c5aacd514268c8da1a9a09c9c374", + "sha256": "785b8db858ba0577013b63a7aa85429f49f6401616cf8a67872ffe1f8125ebea" + } + }, + { + "relative_path": "payloads/base.usda", + "size": 12036, + "hash": { + "sha256-flat-1mb": "2268ae7e33e4793d0c2bf76bdee6fdbb621ad4a86053537c3b013b83e91cc2d4", + "sha256": "49f09c19b543a49976a724ef15ba564fb58ecfcf36bf33e597f3985b2fad9420" + } + }, + { + "relative_path": "payloads/geometries.usd", + "size": 3990584, + "hash": { + "sha256-flat-1mb": "408d70f6ae89230fbe1e5d76a59ddc611a11070d77c13eb25361d0887283e085", + "sha256": "219d4c54f1b914cce9a8d5cb2ded86ec0c5faae274c1f007cacd0458d7cf7432", + "sha256-first1m": "a5b67368d20a01e89d1d2c7bc521596327558c3386aa4e8ef0bfba6acc4f5263" + } + }, + { + "relative_path": "payloads/instances.usda", + "size": 72197, + "hash": { + "sha256-flat-1mb": "34f1f53534f9cb4463d36f1ff993d808d3961c37b6ead9d94fd79f429901f3d8", + "sha256": "e159aee38346d57bb710266e9aee5c0b4c06cf68280f15bdb1cabbbc2e4d8113" + } + }, + { + "relative_path": "payloads/materials.usda", + "size": 44611, + "hash": { + "sha256-flat-1mb": "fc29b31cb90cbd655c2374a215348ef2abc0b1ade646f52e043e2f1fd16c5fd5", + "sha256": "40dedf11c59cad180fedeb6f768bef2a5c0a8f4f84e208874b5c6e49dd6b49fa" + } + }, + { + "relative_path": "payloads/robot.usda", + "size": 3118, + "hash": { + "sha256-flat-1mb": "f171b47646c51415cc81506a0fa9006c0673e84ec34fa3a619f5638a774fb524", + "sha256": "ebdd626068b53ea4d168e46b5ed17314c7ab8b86651dcb162f1bf9aef770ece8" + } + }, + { + "relative_path": "runnables/physics/mujoco.usda", + "size": 9329, + "hash": { + "sha256-flat-1mb": "94e11e85f838c5d7ba662152a8140eaf01228a6d4d9c1863c002b66d13bf525d", + "sha256": "25d16aaee616b40059f5defb1f89cb526ceb840bb878fa831718b62ffa05cc31" + } + }, + { + "relative_path": "runnables/physics/newton.usda", + "size": 9913, + "hash": { + "sha256-flat-1mb": "9b65e867eb4a982ed14c265a8d1968238ebc996349a20d33cb99b7fbe3865be6", + "sha256": "6ae46ab69aad237732931653eaac446e327a50e76217434f08223107b78e7e1b" + } + }, + { + "relative_path": "runnables/physics/physx.usda", + "size": 11512, + "hash": { + "sha256-flat-1mb": "a5a03d5eba05e645ccb19004e338f591b6b60c6d6db4cc146615cef81ea4d7fd", + "sha256": "4c4600e8231a3824132cd07ba73e1a19384578740d72fdfce8846f6efcd9428a" + } + } + ] +} \ No newline at end of file diff --git a/robotiq_2f_85/.metadata/com.nvidia.simready.root_usds.json b/robotiq_2f_85/.metadata/com.nvidia.simready.root_usds.json new file mode 100644 index 0000000000000000000000000000000000000000..0702765f1db23cb86b09c8d3a7fa6e0b3fb727ac --- /dev/null +++ b/robotiq_2f_85/.metadata/com.nvidia.simready.root_usds.json @@ -0,0 +1,6 @@ +{ + "format_version": "1.0", + "entries": [ + "2F_85.usda" + ] +} diff --git a/robotiq_2f_85/.metadata/license.txt b/robotiq_2f_85/.metadata/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..da6ab6cc8f333d7e89a99812866df8f24374d47c --- /dev/null +++ b/robotiq_2f_85/.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. The +following considerations are for informational purposes only, are not +exhaustive, and do not form part of our licenses. + + Considerations for licensors: Our public licenses are + intended for use by those authorized to give the public + permission to use material in ways otherwise restricted by + copyright and certain other rights. Our licenses are + irrevocable. Licensors should read and understand the terms + and conditions of the license they choose before applying it. + Licensors should also secure all rights necessary before + applying our licenses so that the public can reuse the + material as expected. Licensors should clearly mark any + material not subject to the license. This includes other CC- + licensed material, or material used under an exception or + limitation to copyright. More considerations for licensors: + wiki.creativecommons.org/Considerations_for_licensors + + Considerations for the public: By using one of our public + licenses, a licensor grants the public permission to use the + licensed material under specified terms and conditions. If + the licensor's permission is not necessary for any reason--for + example, because of any applicable exception or limitation to + copyright--then that use is not regulated by the license. Our + licenses grant only permissions under copyright and certain + other rights that a licensor has authority to grant. Use of + the licensed material may still be restricted for other + reasons, including because others have copyright or other + rights in the material. A licensor may make special requests, + such as asking that all changes be marked or described. + Although not required by our licenses, you are encouraged to + respect those requests where reasonable. More considerations + for the public: + wiki.creativecommons.org/Considerations_for_licensees + +======================================================================= + +Creative Commons Attribution 4.0 International Public License + +By exercising the Licensed Rights (defined below), You accept and agree +to be bound by the terms and conditions of this Creative Commons +Attribution 4.0 International Public License ("Public License"). To the +extent this Public License may be interpreted as a contract, You are +granted the Licensed Rights in consideration of Your acceptance of +these terms and conditions, and the Licensor grants You such rights in +consideration of benefits the Licensor receives from making the +Licensed Material available under these terms and conditions. + + +Section 1 -- Definitions. + + a. Adapted Material means material subject to Copyright and Similar + Rights that is derived from or based upon the Licensed Material + and in which the Licensed Material is translated, altered, + arranged, transformed, or otherwise modified in a manner requiring + permission under the Copyright and Similar Rights held by the + Licensor. For purposes of this Public License, where the Licensed + Material is a musical work, performance, or sound recording, + Adapted Material is always produced where the Licensed Material is + synched in timed relation with a moving image. + + b. Adapter's License means the license You apply to Your Copyright + and Similar Rights in Your contributions to Adapted Material in + accordance with the terms and conditions of this Public License. + + c. Copyright and Similar Rights means copyright and/or similar rights + closely related to copyright including, without limitation, + performance, broadcast, sound recording, and Sui Generis Database + Rights, without regard to how the rights are labeled or + categorized. For purposes of this Public License, the rights + specified in Section 2(b)(1)-(2) are not Copyright and Similar + Rights. + + d. Effective Technological Measures means those measures that, in the + absence of proper authority, may not be circumvented under laws + fulfilling obligations under Article 11 of the WIPO Copyright + Treaty adopted on December 20, 1996, and/or similar international + agreements. + + e. Exceptions and Limitations means fair use, fair dealing, and/or + any other exception or limitation to Copyright and Similar Rights + that applies to Your use of the Licensed Material. + + f. Licensed Material means the artistic or literary work, database, + or other material to which the Licensor applied this Public + License. + + g. Licensed Rights means the rights granted to You subject to the + terms and conditions of this Public License, which are limited to + all Copyright and Similar Rights that apply to Your use of the + Licensed Material and that the Licensor has authority to license. + + h. Licensor means the individual(s) or entity(ies) granting rights + under this Public License. + + i. Share means to provide material to the public by any means or + process that requires permission under the Licensed Rights, such + as reproduction, public display, public performance, distribution, + dissemination, communication, or importation, and to make material + available to the public including in ways that members of the + public may access the material from a place and at a time + individually chosen by them. + + j. Sui Generis Database Rights means rights other than copyright + resulting from Directive 96/9/EC of the European Parliament and of + the Council of 11 March 1996 on the legal protection of databases, + as amended and/or succeeded, as well as other essentially + equivalent rights anywhere in the world. + + k. You means the individual or entity exercising the Licensed Rights + under this Public License. Your has a corresponding meaning. + + +Section 2 -- Scope. + + a. License grant. + + 1. Subject to the terms and conditions of this Public License, + the Licensor hereby grants You a worldwide, royalty-free, + non-sublicensable, non-exclusive, irrevocable license to + exercise the Licensed Rights in the Licensed Material to: + + a. reproduce and Share the Licensed Material, in whole or + in part; and + + b. produce, reproduce, and Share Adapted Material. + + 2. Exceptions and Limitations. For the avoidance of doubt, where + Exceptions and Limitations apply to Your use, this Public + License does not apply, and You do not need to comply with + its terms and conditions. + + 3. Term. The term of this Public License is specified in Section + 6(a). + + 4. Media and formats; technical modifications allowed. The + Licensor authorizes You to exercise the Licensed Rights in + all media and formats whether now known or hereafter created, + and to make technical modifications necessary to do so. The + Licensor waives and/or agrees not to assert any right or + authority to forbid You from making technical modifications + necessary to exercise the Licensed Rights, including + technical modifications necessary to circumvent Effective + Technological Measures. For purposes of this Public License, + simply making modifications authorized by this Section 2(a) + (4) never produces Adapted Material. + + 5. Downstream recipients. + + a. Offer from the Licensor -- Licensed Material. Every + recipient of the Licensed Material automatically + receives an offer from the Licensor to exercise the + Licensed Rights under the terms and conditions of this + Public License. + + b. No downstream restrictions. You may not offer or impose + any additional or different terms or conditions on, or + apply any Effective Technological Measures to, the + Licensed Material if doing so restricts exercise of the + Licensed Rights by any recipient of the Licensed + Material. + + 6. No endorsement. Nothing in this Public License constitutes or + may be construed as permission to assert or imply that You + are, or that Your use of the Licensed Material is, connected + with, or sponsored, endorsed, or granted official status by, + the Licensor or others designated to receive attribution as + provided in Section 3(a)(1)(A)(i). + + b. Other rights. + + 1. Moral rights, such as the right of integrity, are not + licensed under this Public License, nor are publicity, + privacy, and/or other similar personality rights; however, to + the extent possible, the Licensor waives and/or agrees not to + assert any such rights held by the Licensor to the limited + extent necessary to allow You to exercise the Licensed + Rights, but not otherwise. + + 2. Patent and trademark rights are not licensed under this + Public License. + + 3. To the extent possible, the Licensor waives any right to + collect royalties from You for the exercise of the Licensed + Rights, whether directly or through a collecting society + under any voluntary or waivable statutory or compulsory + licensing scheme. In all other cases the Licensor expressly + reserves any right to collect such royalties. + + +Section 3 -- License Conditions. + +Your exercise of the Licensed Rights is expressly made subject to the +following conditions. + + a. Attribution. + + 1. If You Share the Licensed Material (including in modified + form), You must: + + a. retain the following if it is supplied by the Licensor + with the Licensed Material: + + i. identification of the creator(s) of the Licensed + Material and any others designated to receive + attribution, in any reasonable manner requested by + the Licensor (including by pseudonym if + designated); + + ii. a copyright notice; + + iii. a notice that refers to this Public License; + + iv. a notice that refers to the disclaimer of + warranties; + + v. a URI or hyperlink to the Licensed Material to the + extent reasonably practicable; + + b. indicate if You modified the Licensed Material and + retain an indication of any previous modifications; and + + c. indicate the Licensed Material is licensed under this + Public License, and include the text of, or the URI or + hyperlink to, this Public License. + + 2. You may satisfy the conditions in Section 3(a)(1) in any + reasonable manner based on the medium, means, and context in + which You Share the Licensed Material. For example, it may be + reasonable to satisfy the conditions by providing a URI or + hyperlink to a resource that includes the required + information. + + 3. If requested by the Licensor, You must remove any of the + information required by Section 3(a)(1)(A) to the extent + reasonably practicable. + + 4. If You Share Adapted Material You produce, the Adapter's + License You apply must not prevent recipients of the Adapted + Material from complying with this Public License. + + +Section 4 -- Sui Generis Database Rights. + +Where the Licensed Rights include Sui Generis Database Rights that +apply to Your use of the Licensed Material: + + a. for the avoidance of doubt, Section 2(a)(1) grants You the right + to extract, reuse, reproduce, and Share all or a substantial + portion of the contents of the database; + + b. if You include all or a substantial portion of the database + contents in a database in which You have Sui Generis Database + Rights, then the database in which You have Sui Generis Database + Rights (but not its individual contents) is Adapted Material; and + + c. You must comply with the conditions in Section 3(a) if You Share + all or a substantial portion of the contents of the database. + +For the avoidance of doubt, this Section 4 supplements and does not +replace Your obligations under this Public License where the Licensed +Rights include other Copyright and Similar Rights. + + +Section 5 -- Disclaimer of Warranties and Limitation of Liability. + + a. UNLESS OTHERWISE SEPARATELY UNDERTAKEN BY THE LICENSOR, TO THE + EXTENT POSSIBLE, THE LICENSOR OFFERS THE LICENSED MATERIAL AS-IS + AND AS-AVAILABLE, AND MAKES NO REPRESENTATIONS OR WARRANTIES OF + ANY KIND CONCERNING THE LICENSED MATERIAL, WHETHER EXPRESS, + IMPLIED, STATUTORY, OR OTHER. THIS INCLUDES, WITHOUT LIMITATION, + WARRANTIES OF TITLE, MERCHANTABILITY, FITNESS FOR A PARTICULAR + PURPOSE, NON-INFRINGEMENT, ABSENCE OF LATENT OR OTHER DEFECTS, + ACCURACY, OR THE PRESENCE OR ABSENCE OF ERRORS, WHETHER OR NOT + KNOWN OR DISCOVERABLE. WHERE DISCLAIMERS OF WARRANTIES ARE NOT + ALLOWED IN FULL OR IN PART, THIS DISCLAIMER MAY NOT APPLY TO YOU. + + b. TO THE EXTENT POSSIBLE, IN NO EVENT WILL THE LICENSOR BE LIABLE + TO YOU ON ANY LEGAL THEORY (INCLUDING, WITHOUT LIMITATION, + NEGLIGENCE) OR OTHERWISE FOR ANY DIRECT, SPECIAL, INDIRECT, + INCIDENTAL, CONSEQUENTIAL, PUNITIVE, EXEMPLARY, OR OTHER LOSSES, + COSTS, EXPENSES, OR DAMAGES ARISING OUT OF THIS PUBLIC LICENSE OR + USE OF THE LICENSED MATERIAL, EVEN IF THE LICENSOR HAS BEEN + ADVISED OF THE POSSIBILITY OF SUCH LOSSES, COSTS, EXPENSES, OR + DAMAGES. WHERE A LIMITATION OF LIABILITY IS NOT ALLOWED IN FULL OR + IN PART, THIS LIMITATION MAY NOT APPLY TO YOU. + + c. The disclaimer of warranties and limitation of liability provided + above shall be interpreted in a manner that, to the extent + possible, most closely approximates an absolute disclaimer and + waiver of all liability. + + +Section 6 -- Term and Termination. + + a. This Public License applies for the term of the Copyright and + Similar Rights licensed here. However, if You fail to comply with + this Public License, then Your rights under this Public License + terminate automatically. + + b. Where Your right to use the Licensed Material has terminated under + Section 6(a), it reinstates: + + 1. automatically as of the date the violation is cured, provided + it is cured within 30 days of Your discovery of the + violation; or + + 2. upon express reinstatement by the Licensor. + + For the avoidance of doubt, this Section 6(b) does not affect any + right the Licensor may have to seek remedies for Your violations + of this Public License. + + c. For the avoidance of doubt, the Licensor may also offer the + Licensed Material under separate terms or conditions or stop + distributing the Licensed Material at any time; however, doing so + will not terminate this Public License. + + d. Sections 1, 5, 6, 7, and 8 survive termination of this Public + License. + + +Section 7 -- Other Terms and Conditions. + + a. The Licensor shall not be bound by any additional or different + terms or conditions communicated by You unless expressly agreed. + + b. Any arrangements, understandings, or agreements regarding the + Licensed Material not stated herein are separate from and + independent of the terms and conditions of this Public License. + + +Section 8 -- Interpretation. + + a. For the avoidance of doubt, this Public License does not, and + shall not be interpreted to, reduce, limit, restrict, or impose + conditions on any use of the Licensed Material that could lawfully + be made without permission under this Public License. + + b. To the extent possible, if any provision of this Public License is + deemed unenforceable, it shall be automatically reformed to the + minimum extent necessary to make it enforceable. If the provision + cannot be reformed, it shall be severed from this Public License + without affecting the enforceability of the remaining terms and + conditions. + + c. No term or condition of this Public License will be waived and no + failure to comply consented to unless expressly agreed to by the + Licensor. + + d. Nothing in this Public License constitutes or may be interpreted + as a limitation upon, or waiver of, any privileges and immunities + that apply to the Licensor or You, including from the legal + processes of any jurisdiction or authority. + + +======================================================================= + +Creative Commons is not a party to its public +licenses. Notwithstanding, Creative Commons may elect to apply one of +its public licenses to material it publishes and in those instances +will be considered the “Licensor.” The text of the Creative Commons +public licenses is dedicated to the public domain under the CC0 Public +Domain Dedication. 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/robotiq_2f_85/.metadata/robotiq_2f_85_benchmark.json b/robotiq_2f_85/.metadata/robotiq_2f_85_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..d90457dbbd148314da866a520b9ec342738a186f --- /dev/null +++ b/robotiq_2f_85/.metadata/robotiq_2f_85_benchmark.json @@ -0,0 +1,11074 @@ +{ + "schema_version": "1.0", + "asset": "robotiq_2f_85", + "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": 47.969, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 13.967, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 872.94, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.453, + "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": 47.969, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 13.967, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 872.94, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.453, + "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": 131.656, + "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": 33, + "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": 10.657, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1522.43, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.406, + "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": 51402, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 51633, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.1502, + 0.1501, + 0.1499 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.0, + "unit": null + }, + "display_color_response_ratio": { + "value": 0.999981, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.999027, + "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": 131.656, + "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": 33, + "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": 10.657, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1522.43, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.406, + "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": 51402, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 51633, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.1502, + 0.1501, + 0.1499 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.0, + "unit": null + }, + "display_color_response_ratio": { + "value": 0.999981, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.999027, + "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": 8.032, + "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": 1.835215240131978, + "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": 1.016, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1016.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.734, + "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/Joints/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": 0.5235987756040527, + "start": 5.753875674530118e-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_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": 6.344, + "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": 1.8352151902854996, + "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": 0.422, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 211.0, + "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 + }, + "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/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6.659999847412109, + "damping": 0.0, + "max_force": 26.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235478709870277, + "start": -5.090461127110757e-05, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 152, + "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": 21.765, + "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": 1.8353769673976723, + "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": [ + -2.12701797873172e-05, + -0.04454435076035029, + 0.05430949818693561 + ] + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.156, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 96.33, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.047, + "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": 0.8203047513961792, + "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/Joints/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": 12.562, + "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": 1.8352151902854996, + "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": 2.045, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 170.42, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.812, + "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": 0.8203047513961792, + "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/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6.659999847412109, + "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": 95.454, + "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": 95.29700000002049, + "setup_elapsed_wall_seconds": 7.922000000020489, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3264.7029999999795, + "observed_service_seconds_per_nominal_tick": 0.07001201923076923, + "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": 82.84800000023097, + "attempts": 1248 + }, + "captures": { + "wall_seconds": 1.7510000000474975, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 0.3300000000745058, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.09299999999348074, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 0.1259999998146668, + "attempts": 1018 + }, + "commands": { + "wall_seconds": 0.3369999999413267, + "attempts": 1008 + }, + "encoding": { + "wall_seconds": 1.75, + "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": 1.8353769673976723, + "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": 0.0017582891574764452, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "finger_joint", + "segment": "to_max", + "requested_start": 1.9825585617638808e-09, + "observed_start": 1.9825585617638808e-09, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.5562093257904053, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.005893069318204929 + }, + { + "joint": "finger_joint", + "segment": "to_min", + "requested_start": 0.7382742762565613, + "observed_start": 0.7382281422615051, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.5562093257904053, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.005237915600666554 + }, + { + "joint": "finger_joint", + "segment": "to_zero", + "requested_start": 0.08203047513961792, + "observed_start": 0.08173513412475586, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.5562093257904053, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0006524280039454933 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.751, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 194.56, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.75, + "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 + }, + "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": 0.8203047513961792, + "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": 2.5562093257904053, + "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/Joints/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": 13.25, + "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": 13.171999999904074, + "setup_elapsed_wall_seconds": 5.296999999904074, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3346.828000000096, + "observed_service_seconds_per_nominal_tick": 0.0062699044585987265, + "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": 0.9180000001797453, + "attempts": 1256 + }, + "captures": { + "wall_seconds": 1.4679999999934807, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 0.38799999991897494, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.2190000000409782, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 1.2260000000242144, + "attempts": 1026 + }, + "commands": { + "wall_seconds": 2.7040000001434237, + "attempts": 1016 + }, + "encoding": { + "wall_seconds": 0.6719999999040738, + "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": 1.8352151902854996, + "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": 0.0017586210591127153, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "finger_joint", + "segment": "to_max", + "requested_start": -0.00013684887380804867, + "observed_start": -0.00013684887380804867, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.5562093257904053, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": true, + "estimated_initial_command_step_speed": 0.03284372971393168 + }, + { + "joint": "finger_joint", + "segment": "to_min", + "requested_start": 0.7382742762565613, + "observed_start": 0.7381650805473328, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.5562093257904053, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00523741222804297 + }, + { + "joint": "finger_joint", + "segment": "to_zero", + "requested_start": 0.08203047513961792, + "observed_start": 0.08193544298410416, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.5562093257904053, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0006540269137766952 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.468, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 163.11, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.672, + "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 + }, + "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": 0.8203047513961792, + "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": 2.5562093257904053, + "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/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6.659999847412109, + "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": 87.25, + "message": "", + "metrics": { + "gripper_max_opening_m": { + "value": 0.08500000089406967, + "unit": null + }, + "gripper_max_payload_kg": { + "value": 2.0, + "unit": null + }, + "used_heuristic_payload": { + "value": false, + "unit": null + }, + "tested_object_mass_kg": { + "value": 1.7, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 2.484, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 29, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 85.66, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.125, + "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 + }, + "test_support_collision_suspended": { + "value": [], + "unit": null + }, + "detect_probe_evidence_1": { + "value": { + "schema_version": 1, + "trial_index": 0, + "trial_shape": "cube", + "dof_index": 1, + "joint_name": "finger_joint", + "joint_units": "native articulation position units; see motion metadata when identity resolves", + "lower_limit": 0.0, + "upper_limit": 0.8203047513961792, + "inset_fraction": 0.05, + "original_position": 0.00033800682285800576, + "prior_target": 0.0, + "meters_per_unit": 1.0, + "reference_path": "/World/AssetRoot/Asset/base_link", + "candidate_body_paths": [ + "/World/AssetRoot/Asset/left_outer_knuckle", + "/World/AssetRoot/Asset/right_outer_knuckle", + "/World/AssetRoot/Asset/right_inner_finger", + "/World/AssetRoot/Asset/right_inner_knuckle", + "/World/AssetRoot/Asset/left_inner_knuckle", + "/World/AssetRoot/Asset/left_inner_finger", + "/World/AssetRoot/Asset/left_outer_finger", + "/World/AssetRoot/Asset/right_outer_finger" + ], + "candidate_body_paths_omitted": 0, + "missing_geometry_paths": [], + "geometry_basis": "owned bound corners transformed by live tensor poses; not measured contacts", + "ramps": [ + { + "phase": "lower_endpoint", + "start_position": 0.00033800682285800576, + "commanded_target": 0.04101523756980896, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 0.0003464341658021079, + "achieved": 0.0005726288072764874 + }, + { + "step": 4, + "commanded": 0.00047058446381103105, + "achieved": 0.0007747183553874493 + }, + { + "step": 8, + "commanded": 0.0008562648738561958, + "achieved": 0.001129490789026022 + }, + { + "step": 12, + "commanded": 0.0014769692837726326, + "achieved": 0.0017164123710244894 + }, + { + "step": 16, + "commanded": 0.0023146189243394744, + "achieved": 0.0025227537844330072 + }, + { + "step": 20, + "commanded": 0.003351135026335854, + "achieved": 0.0035305419005453587 + }, + { + "step": 24, + "commanded": 0.004568438820540906, + "achieved": 0.004721692763268948 + }, + { + "step": 28, + "commanded": 0.00594845153773376, + "achieved": 0.006078147795051336 + }, + { + "step": 32, + "commanded": 0.007473094408693552, + "achieved": 0.007581829559057951 + }, + { + "step": 36, + "commanded": 0.009124288664199412, + "achieved": 0.009214658290147781 + }, + { + "step": 40, + "commanded": 0.010883955535030475, + "achieved": 0.010958564467728138 + }, + { + "step": 44, + "commanded": 0.012734016251965873, + "achieved": 0.012795476242899895 + }, + { + "step": 48, + "commanded": 0.014656392045784745, + "achieved": 0.014707324095070362 + }, + { + "step": 52, + "commanded": 0.01663300414726621, + "achieved": 0.016676021739840508 + }, + { + "step": 56, + "commanded": 0.018645773787189412, + "achieved": 0.01868349127471447 + }, + { + "step": 60, + "commanded": 0.020676622196333483, + "achieved": 0.020711692050099373 + }, + { + "step": 64, + "commanded": 0.022707470605477554, + "achieved": 0.022742517292499542 + }, + { + "step": 68, + "commanded": 0.024720240245400756, + "achieved": 0.024757925420999527 + }, + { + "step": 72, + "commanded": 0.026696852346882224, + "achieved": 0.026739811524748802 + }, + { + "step": 76, + "commanded": 0.02861922814070109, + "achieved": 0.028670111671090126 + }, + { + "step": 80, + "commanded": 0.03046928885763649, + "achieved": 0.030530761927366257 + }, + { + "step": 84, + "commanded": 0.032228955728467554, + "achieved": 0.03230368345975876 + }, + { + "step": 88, + "commanded": 0.033880149983973415, + "achieved": 0.033970799297094345 + }, + { + "step": 92, + "commanded": 0.035404792854933205, + "achieved": 0.035514041781425476 + }, + { + "step": 96, + "commanded": 0.036784805572126066, + "achieved": 0.03691535070538521 + }, + { + "step": 100, + "commanded": 0.03800210936633112, + "achieved": 0.038156621158123016 + }, + { + "step": 104, + "commanded": 0.039038625468327495, + "achieved": 0.03921979293227196 + }, + { + "step": 108, + "commanded": 0.039876275108894334, + "achieved": 0.040086809545755386 + }, + { + "step": 112, + "commanded": 0.04049697951881077, + "achieved": 0.04073959216475487 + }, + { + "step": 116, + "commanded": 0.04088265992885593, + "achieved": 0.04116005077958107 + }, + { + "step": 120, + "commanded": 0.04101523756980896, + "achieved": 0.041330136358737946 + } + ], + "samples_omitted": 89, + "last_commanded_position": 0.04101523756980896, + "last_achieved_position": 0.041330136358737946 + }, + { + "phase": "upper_endpoint", + "start_position": 0.041330136358737946, + "commanded_target": 0.7792895138263702, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 0.04148302377606052, + "achieved": 0.04163181781768799 + }, + { + "step": 4, + "commanded": 0.043735337292706525, + "achieved": 0.04354076832532883 + }, + { + "step": 8, + "commanded": 0.050732285464251486, + "achieved": 0.04988577589392662 + }, + { + "step": 12, + "commanded": 0.06199299892783165, + "achieved": 0.06053179129958153 + }, + { + "step": 16, + "commanded": 0.07718949573790586, + "achieved": 0.07515992224216461 + }, + { + "step": 20, + "commanded": 0.09599379394893293, + "achieved": 0.09344261884689331 + }, + { + "step": 24, + "commanded": 0.11807791161537172, + "achieved": 0.11505169421434402 + }, + { + "step": 28, + "commanded": 0.143113866791681, + "achieved": 0.13965940475463867 + }, + { + "step": 32, + "commanded": 0.17077367753231967, + "achieved": 0.1669376790523529 + }, + { + "step": 36, + "commanded": 0.20072936189174653, + "achieved": 0.19655872881412506 + }, + { + "step": 40, + "commanded": 0.23265293792442038, + "achieved": 0.22819453477859497 + }, + { + "step": 44, + "commanded": 0.2662164236848001, + "achieved": 0.26151734590530396 + }, + { + "step": 48, + "commanded": 0.30109183722734456, + "achieved": 0.2961989641189575 + }, + { + "step": 52, + "commanded": 0.33695119660651246, + "achieved": 0.3319116532802582 + }, + { + "step": 56, + "commanded": 0.37346651987676266, + "achieved": 0.3683277368545532 + }, + { + "step": 60, + "commanded": 0.4103098250925541, + "achieved": 0.40511929988861084 + }, + { + "step": 64, + "commanded": 0.4471531303083455, + "achieved": 0.4419586658477783 + }, + { + "step": 68, + "commanded": 0.4836684535785957, + "achieved": 0.4785173833370209 + }, + { + "step": 72, + "commanded": 0.5195278129577636, + "achieved": 0.5144680738449097 + }, + { + "step": 76, + "commanded": 0.554403226500308, + "achieved": 0.5494828820228577 + }, + { + "step": 80, + "commanded": 0.5879667122606878, + "achieved": 0.5832345485687256 + }, + { + "step": 84, + "commanded": 0.6198902882933616, + "achieved": 0.6153944730758667 + }, + { + "step": 88, + "commanded": 0.6498459726527884, + "achieved": 0.6456349492073059 + }, + { + "step": 92, + "commanded": 0.6775057833934272, + "achieved": 0.6736287474632263 + }, + { + "step": 96, + "commanded": 0.7025417385697366, + "achieved": 0.6990470290184021 + }, + { + "step": 100, + "commanded": 0.7246258562361754, + "achieved": 0.7215625047683716 + }, + { + "step": 104, + "commanded": 0.7434301544472024, + "achieved": 0.7408479452133179 + }, + { + "step": 108, + "commanded": 0.7586266512572765, + "achieved": 0.7565750479698181 + }, + { + "step": 112, + "commanded": 0.7698873647208567, + "achieved": 0.7684161067008972 + }, + { + "step": 116, + "commanded": 0.7768843128924017, + "achieved": 0.7760428190231323 + }, + { + "step": 120, + "commanded": 0.7792895138263702, + "achieved": 0.7791280746459961 + } + ], + "samples_omitted": 89, + "last_commanded_position": 0.7792895138263702, + "last_achieved_position": 0.7791280746459961 + }, + { + "phase": "restore", + "start_position": 0.7791280746459961, + "commanded_target": 0.00033800682285800576, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 0.7789667280925929, + "achieved": 0.7790448665618896 + }, + { + "step": 4, + "commanded": 0.7765897959064244, + "achieved": 0.7771610021591187 + }, + { + "step": 8, + "commanded": 0.7692057123003976, + "achieved": 0.7704725861549377 + }, + { + "step": 12, + "commanded": 0.7573219527469482, + "achieved": 0.7592388391494751 + }, + { + "step": 16, + "commanded": 0.7412846461651088, + "achieved": 0.7438033223152161 + }, + { + "step": 20, + "commanded": 0.7214399214739118, + "achieved": 0.7245111465454102 + }, + { + "step": 24, + "commanded": 0.6981339075923897, + "achieved": 0.7017093896865845 + }, + { + "step": 28, + "commanded": 0.6717127334395752, + "achieved": 0.675743043422699 + }, + { + "step": 32, + "commanded": 0.6425225279345005, + "achieved": 0.6469577550888062 + }, + { + "step": 36, + "commanded": 0.6109094199961983, + "achieved": 0.6157010793685913 + }, + { + "step": 40, + "commanded": 0.577219538543701, + "achieved": 0.5823174118995667 + }, + { + "step": 44, + "commanded": 0.5417990124960413, + "achieved": 0.5471529960632324 + }, + { + "step": 48, + "commanded": 0.5049939707722515, + "achieved": 0.510554313659668 + }, + { + "step": 52, + "commanded": 0.46715054229136416, + "achieved": 0.4728669822216034 + }, + { + "step": 56, + "commanded": 0.4286148559724119, + "achieved": 0.4344366788864136 + }, + { + "step": 60, + "commanded": 0.38973304073442705, + "achieved": 0.39560985565185547 + }, + { + "step": 64, + "commanded": 0.3508512254964422, + "achieved": 0.3567323386669159 + }, + { + "step": 68, + "commanded": 0.31231553917748994, + "achieved": 0.3181498348712921 + }, + { + "step": 72, + "commanded": 0.2744721106966026, + "achieved": 0.28020843863487244 + }, + { + "step": 76, + "commanded": 0.23766706897281287, + "achieved": 0.24325424432754517 + }, + { + "step": 80, + "commanded": 0.2022465429251531, + "achieved": 0.20763324201107025 + }, + { + "step": 84, + "commanded": 0.1685566614726559, + "achieved": 0.17369136214256287 + }, + { + "step": 88, + "commanded": 0.13694355353435372, + "achieved": 0.14177477359771729 + }, + { + "step": 92, + "commanded": 0.10775334802927894, + "achieved": 0.11222938448190689 + }, + { + "step": 96, + "commanded": 0.0813321738764643, + "achieved": 0.08540133386850357 + }, + { + "step": 100, + "commanded": 0.058026159994942206, + "achieved": 0.061636682599782944 + }, + { + "step": 104, + "commanded": 0.03818143530374529, + "achieved": 0.04128151759505272 + }, + { + "step": 108, + "commanded": 0.022144128721905854, + "achieved": 0.024681931361556053 + }, + { + "step": 112, + "commanded": 0.010260369168456518, + "achieved": 0.012184019200503826 + }, + { + "step": 116, + "commanded": 0.0028762855624296924, + "achieved": 0.00413384148851037 + }, + { + "step": 120, + "commanded": 0.00033800682285800576, + "achieved": 0.0008774729794822633 + } + ], + "samples_omitted": 89, + "last_commanded_position": 0.00033800682285800576, + "last_achieved_position": 0.0008774729794822633 + } + ], + "endpoints": { + "lower": { + "commanded": 0.04101523756980896, + "achieved": 0.041330136358737946, + "geometry": { + "coordinate_basis": "world and gripper-base-relative stage lengths; geometry proxies, not contacts", + "reference_path": "/World/AssetRoot/Asset/base_link", + "reference_position_world": [ + 8.731149137020111e-11, + 2.473825588822365e-10, + -0.00010566413402557373 + ], + "reference_quaternion_xyzw": [ + -7.275957614183426e-12, + 1.0000001192092896, + 0.0, + 1.4551915228366852e-11 + ], + "candidate_count": 8, + "candidates": [ + { + "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", + "body_position_world": [ + -3.2741809263825417e-11, + -0.002284608781337738, + 0.0011119768023490906 + ], + "body_quaternion_xyzw": [ + 2.255546860396862e-10, + 0.9997865557670593, + 0.02066359668970108, + 7.737526175333187e-10 + ], + "tip_position_world": [ + 3.919892535564351e-11, + -0.06757517284936043, + -0.06617369666734277 + ], + "tip_position_reference": [ + 5.101875499623948e-11, + -0.06757517309674299, + 0.0660680325333172 + ], + "geometry_min_world": [ + -0.008249999947471569, + -0.06840801893385542, + -0.06617369668003006 + ], + "geometry_max_world": [ + 0.008250000013344739, + -0.022631119601016696, + -0.04417550712656405 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_outer_knuckle", + "body_position_world": [ + 1.3460521586239338e-10, + 0.0023752711713314056, + 0.0011578314006328583 + ], + "body_quaternion_xyzw": [ + 5.020410753786564e-10, + 0.9997695088386536, + -0.021474381908774376, + -8.853930921759456e-10 + ], + "tip_position_world": [ + 8.466086859337807e-11, + 0.06755661684325825, + -0.06623365016037268 + ], + "tip_position_reference": [ + 3.5921305282953158e-12, + 0.0675566165958757, + 0.0661279860263471 + ], + "geometry_min_world": [ + -0.008249999914080774, + 0.022615637225093774, + -0.0662336501748004 + ], + "geometry_max_world": [ + 0.008250000076077152, + 0.0684221267977123, + -0.044163944350689044 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_inner_finger", + "body_position_world": [ + -9.92681492562042e-11, + -0.002410195767879486, + -0.0020162686705589294 + ], + "body_quaternion_xyzw": [ + -1.7655731099353034e-08, + 0.9999966621398926, + 0.0026098787784576416, + 2.339760563074833e-08 + ], + "tip_position_world": [ + 5.2893117333946416e-09, + 0.041912349462170394, + -0.1502071201784631 + ], + "tip_position_reference": [ + -5.1982416011943766e-09, + 0.041912349214787835, + 0.15010145604443753 + ], + "geometry_min_world": [ + -0.013499998829660005, + 0.04171399799160181, + -0.15020712069422237 + ], + "geometry_max_world": [ + 0.013500004236972512, + 0.07302093721320771, + -0.09306472578359726 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_inner_knuckle", + "body_position_world": [ + -3.0657365535091685e-10, + 0.0012365803122520447, + -0.00033183395862579346 + ], + "body_quaternion_xyzw": [ + -1.7247520744945177e-08, + 0.9998917579650879, + -0.014723718166351318, + 2.3700122753211872e-08 + ], + "tip_position_world": [ + 3.035427513509159e-09, + 0.05488339350123053, + -0.1118716435567063 + ], + "tip_position_reference": [ + -2.945661848726492e-09, + 0.05488339325384797, + 0.11176597942268073 + ], + "geometry_min_world": [ + -0.01749999964899588, + 0.004705867801797542, + -0.11187164437723239 + ], + "geometry_max_world": [ + 0.017500004806337465, + 0.05648761614557142, + -0.055933794131513885 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/left_inner_knuckle", + "body_position_world": [ + -1.3492076345045234e-09, + -0.0013516955077648163, + -0.000254608690738678 + ], + "body_quaternion_xyzw": [ + -2.5072125708902604e-08, + 0.9998886585235596, + 0.01492452621459961, + -1.673970473348163e-08 + ], + "tip_position_world": [ + -2.2859933772323426e-09, + -0.05495370286437, + -0.11181595727460822 + ], + "tip_position_reference": [ + 2.3773557612487825e-09, + -0.05495370311175256, + 0.11171029314058264 + ], + "geometry_min_world": [ + -0.017500004852341725, + -0.05657980016782127, + -0.111815957847336 + ], + "geometry_max_world": [ + 0.017499999653155195, + -0.004776774633459049, + -0.0558586024715953 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/left_inner_finger", + "body_position_world": [ + -1.5913066420125688e-09, + 0.002330675721168518, + -0.001954399049282074 + ], + "body_quaternion_xyzw": [ + -2.536123844265603e-08, + 0.9999967813491821, + -0.0025761574506759644, + -1.6298372429446317e-08 + ], + "tip_position_world": [ + -4.197377811640535e-09, + -0.041981874966352674, + -0.15014823946740952 + ], + "tip_position_reference": [ + 4.289667051675858e-09, + -0.04198187521373523, + 0.15004257533338394 + ], + "geometry_min_world": [ + -0.013500003537005983, + -0.07309242964025034, + -0.15014823982740985 + ], + "geometry_max_world": [ + 0.01349999959093375, + -0.04178608613968396, + -0.09300793360124127 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/left_outer_finger", + "body_position_world": [ + -1.2578311725519598e-09, + -0.002284601330757141, + 0.0011119693517684937 + ], + "body_quaternion_xyzw": [ + -2.4975630452672704e-08, + 0.9997865557670593, + 0.020663529634475708, + -1.6883340947515535e-08 + ], + "tip_position_world": [ + -1.0511975491456216e-09, + -0.07518854705359831, + -0.10537711858867296 + ], + "tip_position_reference": [ + 1.1426669932062761e-09, + -0.07518854730098087, + 0.10527145445464739 + ], + "geometry_min_world": [ + -0.013600002688211614, + -0.0776398901971308, + -0.10537711903376427 + ], + "geometry_max_world": [ + 0.013600001193236982, + -0.04563164697386749, + -0.04487715227493631 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_outer_finger", + "body_position_world": [ + -4.1518433135934174e-10, + 0.002375289797782898, + 0.0011578351259231567 + ], + "body_quaternion_xyzw": [ + -1.7087108616919977e-08, + 0.9997694492340088, + -0.02147442102432251, + 2.3816033589696417e-08 + ], + "tip_position_world": [ + 2.0239801605537178e-09, + 0.07510639908980357, + -0.10544937332406001 + ], + "tip_position_reference": [ + -1.934695692649457e-09, + 0.07510639884242101, + 0.10534370919003444 + ], + "geometry_min_world": [ + -0.013600001025143275, + 0.045551520824467825, + -0.10544937396172606 + ], + "geometry_max_world": [ + 0.013600003184739503, + 0.07765389566828924, + -0.04490551733054859 + ] + } + ], + "candidates_omitted": 0 + } + }, + "upper": { + "commanded": 0.7792895138263702, + "achieved": 0.7791280746459961, + "geometry": { + "coordinate_basis": "world and gripper-base-relative stage lengths; geometry proxies, not contacts", + "reference_path": "/World/AssetRoot/Asset/base_link", + "reference_position_world": [ + 8.731149137020111e-11, + 2.473825588822365e-10, + -0.00010136514902114868 + ], + "reference_quaternion_xyzw": [ + -7.275957614183426e-12, + 1.0000001192092896, + 0.0, + 1.4551915228366852e-11 + ], + "candidate_count": 8, + "candidates": [ + { + "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", + "body_position_world": [ + -2.0372681319713593e-10, + -0.04723465442657471, + 0.005632027983665466 + ], + "body_quaternion_xyzw": [ + 1.3969838619232178e-09, + 0.9250748753547668, + 0.3797851800918579, + 2.546585164964199e-10 + ], + "tip_position_world": [ + -2.6748629353146036e-10, + -0.05028612764584211, + -0.08807447190712478 + ], + "tip_position_reference": [ + 3.580899094421323e-10, + -0.05028612789322467, + 0.08797310675810363 + ], + "geometry_min_world": [ + -0.008250000253668335, + -0.0644494899589945, + -0.08807447191199189 + ], + "geometry_max_world": [ + 0.008249999795372219, + -0.018279909399455663, + -0.04212502759537114 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_outer_knuckle", + "body_position_world": [ + 8.003553375601768e-11, + 0.04717111587524414, + 0.005649492144584656 + ], + "body_quaternion_xyzw": [ + 2.3283064365386963e-10, + 0.9252744913101196, + -0.37929847836494446, + 6.330083124339581e-10 + ], + "tip_position_world": [ + 2.061955502175028e-10, + 0.05032117535999748, + -0.08805374545067177 + ], + "tip_position_reference": [ + -1.1705656629881344e-10, + 0.05032117511261492, + 0.08795238030165062 + ], + "geometry_min_world": [ + -0.008249999810134528, + 0.01828172098194667, + -0.08805374546179308 + ], + "geometry_max_world": [ + 0.008250000161492067, + 0.06446944059038354, + -0.042123098907542095 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_inner_finger", + "body_position_world": [ + 5.051916218690167e-09, + -0.04182107001543045, + -0.014136701822280884 + ], + "body_quaternion_xyzw": [ + -2.9522164268769302e-08, + 0.9999946355819702, + 0.003294840455055237, + 6.3244112169513755e-09 + ], + "tip_position_world": [ + 4.327284350291727e-09, + 0.0027044445482897056, + -0.16226669554112064 + ], + "tip_position_reference": [ + -4.235292561619824e-09, + 0.0027044443009071467, + 0.1621653303920995 + ], + "geometry_min_world": [ + -0.013499998579574854, + 0.0024540361559022283, + -0.16226669568239688 + ], + "geometry_max_world": [ + 0.013500004235987732, + 0.03377305333967498, + -0.10508193875432523 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_inner_knuckle", + "body_position_world": [ + -1.9443247012418396e-10, + 0.04590349271893501, + -0.00865570455789566 + ], + "body_quaternion_xyzw": [ + -2.4917849117400692e-08, + 0.9265320897102356, + -0.3762161135673523, + 1.7048673583985874e-08 + ], + "tip_position_world": [ + 3.4410010917029776e-09, + 0.0100766531045785, + -0.12712741955247314 + ], + "tip_position_reference": [ + -3.3501392746063087e-09, + 0.010076652857195941, + 0.127026054403452 + ], + "geometry_min_world": [ + -0.017499999376267547, + -0.025912371212711657, + -0.12712741977723072 + ], + "geometry_max_world": [ + 0.017500005189472152, + 0.04805988173989511, + -0.05307046944900154 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/left_inner_knuckle", + "body_position_world": [ + -1.2242168390130814e-09, + -0.046174004673957825, + -0.008713513612747192 + ], + "body_quaternion_xyzw": [ + -2.8985983391294212e-08, + 0.9259274005889893, + 0.3777014911174774, + -6.9314891604221884e-09 + ], + "tip_position_world": [ + -2.284986439643477e-09, + -0.009967353341080228, + -0.12706970521153363 + ], + "tip_position_reference": [ + 2.3761382556725473e-09, + -0.009967353588462787, + 0.12696834006251248 + ], + "geometry_min_world": [ + -0.01750000479123449, + -0.0480756721381122, + -0.12706970537008339 + ], + "geometry_max_world": [ + 0.017499999681847993, + 0.025909234988639687, + -0.053019532498683485 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/left_inner_finger", + "body_position_world": [ + -6.346170700055609e-09, + 0.04156505689024925, + -0.013911828398704529 + ], + "body_quaternion_xyzw": [ + -2.94493069930013e-08, + 0.9999986290931702, + -0.0016784816980361938, + 4.579429280227032e-09 + ], + "tip_position_world": [ + -2.4078717561493157e-09, + -0.002481361935770275, + -0.16218498670765272 + ], + "tip_position_reference": [ + 2.499936630178527e-09, + -0.002481362183152834, + 0.16208362155863157 + ], + "geometry_min_world": [ + -0.013500003205518966, + -0.03364421923143217, + -0.16218498680731255 + ], + "geometry_max_world": [ + 0.013499999514547677, + -0.0023537962294894674, + -0.10510036889109739 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/left_outer_finger", + "body_position_world": [ + -1.2928467185702175e-09, + -0.047234658151865005, + 0.005632020533084869 + ], + "body_quaternion_xyzw": [ + -2.8970301713115987e-08, + 0.9250746965408325, + 0.37978512048721313, + -6.996728529884422e-09 + ], + "tip_position_world": [ + -1.1765778958755524e-09, + -0.029549073344258853, + -0.1222043250121434 + ], + "tip_position_reference": [ + 1.2678730616038981e-09, + -0.02954907359164141, + 0.12210295986312225 + ], + "geometry_min_world": [ + -0.013600002785253107, + -0.07123668673954947, + -0.12220432513535923 + ], + "geometry_max_world": [ + 0.013600001077250368, + -0.008500580595353961, + -0.05920445357260923 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_outer_finger", + "body_position_world": [ + -4.5292836148291826e-10, + 0.047171127051115036, + 0.005649499595165253 + ], + "body_quaternion_xyzw": [ + -2.486095596054838e-08, + 0.9252744913101196, + -0.37929850816726685, + 1.7131533525116538e-08 + ], + "tip_position_world": [ + 2.2247039956763137e-09, + 0.029620043972932636, + -0.12220538155971584 + ], + "tip_position_reference": [ + -2.1342698230749525e-09, + 0.029620043725550077, + 0.1221040164106947 + ], + "geometry_min_world": [ + -0.01360000095537043, + 0.008549694492402449, + -0.12220538173438461 + ], + "geometry_max_world": [ + 0.013600003381529353, + 0.07126322281818953, + -0.059183831270355564 + ] + } + ], + "candidates_omitted": 0 + } + } + }, + "achieved_endpoint_delta": 0.7377979382872581, + "required_endpoint_delta": 8.203047513961793e-05, + "aperture_change_tolerance_m": 8.500000089406967e-05, + "max_opening_m": 0.08500000089406967, + "candidate_branches": { + "/World/AssetRoot/Asset/left_outer_knuckle": 0, + "/World/AssetRoot/Asset/right_outer_knuckle": 1, + "/World/AssetRoot/Asset/right_inner_finger": 1, + "/World/AssetRoot/Asset/right_inner_knuckle": 1, + "/World/AssetRoot/Asset/left_inner_knuckle": 0, + "/World/AssetRoot/Asset/left_inner_finger": 0, + "/World/AssetRoot/Asset/left_outer_finger": 0, + "/World/AssetRoot/Asset/right_outer_finger": 1 + }, + "candidate_branches_omitted": 0, + "pair_observations": [ + { + "body_paths": [ + "/World/AssetRoot/Asset/left_outer_knuckle", + "/World/AssetRoot/Asset/right_outer_knuckle" + ], + "lower_m": 0.1351317896926187, + "upper_m": 0.10060730300583959, + "change_m": -0.0345244866867791 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/left_outer_knuckle", + "/World/AssetRoot/Asset/right_inner_finger" + ], + "lower_m": 0.10948752231153096, + "upper_m": 0.052990572194132016, + "change_m": -0.05649695011739894 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/left_outer_knuckle", + "/World/AssetRoot/Asset/right_inner_knuckle" + ], + "lower_m": 0.122458566350591, + "upper_m": 0.060362780750420716, + "change_m": -0.06209578560017029 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/left_outer_knuckle", + "/World/AssetRoot/Asset/right_outer_finger" + ], + "lower_m": 0.14268157193916403, + "upper_m": 0.0799061716187748, + "change_m": -0.06277540032038924 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/right_outer_knuckle", + "/World/AssetRoot/Asset/left_inner_knuckle" + ], + "lower_m": 0.12251031970762828, + "upper_m": 0.06028852870107776, + "change_m": -0.06222179100655052 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/right_outer_knuckle", + "/World/AssetRoot/Asset/left_inner_finger" + ], + "lower_m": 0.109538491809611, + "upper_m": 0.052802537295767824, + "change_m": -0.05673595451384318 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/right_outer_knuckle", + "/World/AssetRoot/Asset/left_outer_finger" + ], + "lower_m": 0.14274516389685657, + "upper_m": 0.07987024870425634, + "change_m": -0.06287491519260023 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/right_inner_finger", + "/World/AssetRoot/Asset/left_inner_knuckle" + ], + "lower_m": 0.09686605232654068, + "upper_m": 0.01267179788937166, + "change_m": -0.08419425443716902 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/right_inner_finger", + "/World/AssetRoot/Asset/left_inner_finger" + ], + "lower_m": 0.0838942244285236, + "upper_m": 0.005185806484064355, + "change_m": -0.07870841794445924 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/right_inner_finger", + "/World/AssetRoot/Asset/left_outer_finger" + ], + "lower_m": 0.11710089651576888, + "upper_m": 0.03225351789254903, + "change_m": -0.08484737862321985 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/right_inner_knuckle", + "/World/AssetRoot/Asset/left_inner_knuckle" + ], + "lower_m": 0.10983709636560067, + "upper_m": 0.020044006445659547, + "change_m": -0.08979308991994112 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/right_inner_knuckle", + "/World/AssetRoot/Asset/left_inner_finger" + ], + "lower_m": 0.09686526846758346, + "upper_m": 0.012558015040350137, + "change_m": -0.08430725342723333 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/right_inner_knuckle", + "/World/AssetRoot/Asset/left_outer_finger" + ], + "lower_m": 0.1300719405548289, + "upper_m": 0.03962572644883763, + "change_m": -0.09044621410599127 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/left_inner_knuckle", + "/World/AssetRoot/Asset/right_outer_finger" + ], + "lower_m": 0.13006010195417364, + "upper_m": 0.039587397314013124, + "change_m": -0.09047270464016052 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/left_inner_finger", + "/World/AssetRoot/Asset/right_outer_finger" + ], + "lower_m": 0.1170882740561564, + "upper_m": 0.032101405908703244, + "change_m": -0.08498686814745315 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/left_outer_finger", + "/World/AssetRoot/Asset/right_outer_finger" + ], + "lower_m": 0.15029494614340191, + "upper_m": 0.059169117317191586, + "change_m": -0.09112582882621033 + } + ], + "pair_observations_omitted": 0, + "same_branch_pairs_ignored": 12 + }, + "unit": null + }, + "detect_aperture_lower_m_dof_1": { + "value": 0.0838942244285236, + "unit": null + }, + "detect_aperture_upper_m_dof_1": { + "value": 0.005185806484064355, + "unit": null + }, + "detect_achieved_lower_dof_1": { + "value": 0.041330136358737946, + "unit": null + }, + "detect_achieved_upper_dof_1": { + "value": 0.7791280746459961, + "unit": null + }, + "detect_used_authored_grip_line": { + "value": false, + "unit": null + }, + "gripper_trial_controls": { + "value": { + "schema_version": 1, + "shape": "cube", + "configured_trial": false, + "object_size_m": 0.059500000625848766, + "object_mass_kg": 1.7, + "max_opening_m": 0.08500000089406967, + "hand_controls": {}, + "procedure_settings": { + "object_size_fraction": 0.7, + "static_friction": 2.0, + "dynamic_friction": 2.0, + "restitution": 0.0, + "payload_mass_fraction": 0.85, + "tested_mass_kg_override": null, + "open_limit_backoff_frac": 0.0, + "descent_contact_chunks": 12, + "descent_contact_max_step_m": 0.005, + "descent_contact_drop_m": 0.003, + "contact_backoff_m": null, + "heuristic_payload_kg_per_m_opening": 50.0, + "heuristic_payload_floor_kg": 0.1, + "heuristic_payload_ceiling_kg": 50.0, + "spawn_ground_clearance_m": 0.005, + "mount_height_m": 0.3, + "approach_extra_clearance_m": 0.03, + "open_close_detect_steps": 120, + "open_steps_max": 600, + "close_steps": 600, + "close_ramp_steps": 300, + "close_position_stall_eps": 0.001, + "close_stall_window": 8, + "close_engage_eps": 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": 0.8203047513961792, + "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_cube": { + "value": 0.12425000093877314, + "unit": null + }, + "approach_clearance_m_cube": { + "value": 0.08950000062584876, + "unit": null + }, + "spawn_center_z_cube": { + "value": 0.034750000312924384, + "unit": null + }, + "open_joint_actual_cube": { + "value": 0.0003380073176231235, + "unit": null + }, + "open_joint_expected_cube": { + "value": 0.0, + "unit": null + }, + "open_joint_worst_error_cube": { + "value": 0.0003380073176231235, + "unit": null + }, + "measured_separation_after_open_cube": { + "value": 0.0011354664465755126, + "unit": null + }, + "descent_total_cube": { + "value": 0.1055217657667144, + "unit": null + }, + "descent_contacted_cube": { + "value": false, + "unit": null + }, + "contact_backoff_m_cube": { + "value": 0.0, + "unit": null + }, + "grasp_depth_search_m_cube": { + "value": 0.0, + "unit": null + }, + "close_blocked_by_object_cube": { + "value": true, + "unit": null + }, + "close_joint_actual_cube_finger_joint": { + "value": 0.04092496261000633, + "unit": null + }, + "close_joint_fraction_cube": { + "value": 0.049889949485664956, + "unit": null + }, + "object_lateral_drift_after_close_cube": { + "value": 2.8531348629013166e-06, + "unit": null + }, + "object_z_drift_from_spawn_after_close_cube": { + "value": -0.005000450387597083, + "unit": null + }, + "grip_confirmed_contact_cube": { + "value": true, + "unit": null + }, + "grip_object_retained_cube": { + "value": true, + "unit": null + }, + "vertical_follow_dz_m_cube": { + "value": 0.015554184094071388, + "unit": null + }, + "horizontal_drift_m_cube": { + "value": 0.01968985752423597, + "unit": null + }, + "pre_load_dz_m_cube": { + "value": 3.4086406230926514e-07, + "unit": null + }, + "shake_object_min_z_cube": { + "value": 0.19245964288711548, + "unit": null + }, + "shake_max_relative_slip_m_cube": { + "value": 0.0004027634859085083, + "unit": null + }, + "shake_passed_cube": { + "value": true, + "unit": null + }, + "drop_pre_z_cube": { + "value": 0.2124602049589157, + "unit": null + }, + "drop_post_z_cube": { + "value": 0.029749996960163116, + "unit": null + }, + "drop_dz_cube": { + "value": 0.1827102079987526, + "unit": null + }, + "drop_passed_cube": { + "value": true, + "unit": null + }, + "winning_shape": { + "value": "cube", + "unit": null + }, + "motion_history_gripper_cube": { + "value": { + "schema_version": 1, + "name": "gripper_cube", + "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": "cube", + "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": 493, + "json": "motion_history/gripper_cube.json", + "csv": "motion_history/gripper_cube.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/Joints/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": "cube", + "trial_number": 1, + "shape": "cube", + "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_cube_joint_000": { + "value": { + "schema_version": 1, + "name": "gripper_cube_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/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + }, + "shape": "cube", + "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_cube_joint_000.json", + "csv": "motion_history/gripper_cube_joint_000.csv" + }, + "unit": null + }, + "motion_history_gripper_cube_contacts": { + "value": { + "schema_version": 1, + "name": "gripper_cube_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": "cube", + "trial_index": 0, + "trial_number": 1, + "tip_link_paths": [ + "/World/AssetRoot/Asset/right_inner_finger", + "/World/AssetRoot/Asset/left_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_cube_contacts.json", + "csv": "motion_history/gripper_cube_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": "gripper_close_lift_sphere", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 55.219, + "message": "", + "metrics": { + "gripper_max_opening_m": { + "value": 0.08500000089406967, + "unit": null + }, + "gripper_max_payload_kg": { + "value": 0.5, + "unit": null + }, + "used_heuristic_payload": { + "value": false, + "unit": null + }, + "tested_object_mass_kg": { + "value": 0.25, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.764, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 29, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 129.79, + "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 + }, + "test_support_collision_suspended": { + "value": [], + "unit": null + }, + "detect_probe_evidence_1": { + "value": { + "schema_version": 1, + "trial_index": 0, + "trial_shape": "sphere", + "dof_index": 1, + "joint_name": "finger_joint", + "joint_units": "native articulation position units; see motion metadata when identity resolves", + "lower_limit": 0.0, + "upper_limit": 0.8203047513961792, + "inset_fraction": 0.05, + "original_position": 0.00038550960016436875, + "prior_target": 0.0, + "meters_per_unit": 1.0, + "reference_path": "/World/AssetRoot/Asset/base_link", + "candidate_body_paths": [ + "/World/AssetRoot/Asset/left_outer_knuckle", + "/World/AssetRoot/Asset/right_outer_knuckle", + "/World/AssetRoot/Asset/right_inner_finger", + "/World/AssetRoot/Asset/right_inner_knuckle", + "/World/AssetRoot/Asset/left_inner_knuckle", + "/World/AssetRoot/Asset/left_inner_finger", + "/World/AssetRoot/Asset/left_outer_finger", + "/World/AssetRoot/Asset/right_outer_finger" + ], + "candidate_body_paths_omitted": 0, + "missing_geometry_paths": [], + "geometry_basis": "owned bound corners transformed by live tensor poses; not measured contacts", + "ramps": [ + { + "phase": "lower_endpoint", + "start_position": 0.00038550960016436875, + "commanded_target": 0.04101523756980896, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 0.00039392710167659837, + "achieved": 0.0006143071223050356 + }, + { + "step": 4, + "commanded": 0.0005179324172506178, + "achieved": 0.0008866459829732776 + }, + { + "step": 8, + "commanded": 0.0009031624305924332, + "achieved": 0.001223915838636458 + }, + { + "step": 12, + "commanded": 0.0015231419833144175, + "achieved": 0.0018151025287806988 + }, + { + "step": 16, + "commanded": 0.0023598134185411727, + "achieved": 0.00262495712377131 + }, + { + "step": 20, + "commanded": 0.003395119079397301, + "achieved": 0.0036356698255985975 + }, + { + "step": 24, + "commanded": 0.004611001309007407, + "achieved": 0.0048292106948792934 + }, + { + "step": 28, + "commanded": 0.00598940245049609, + "achieved": 0.006187522318214178 + }, + { + "step": 32, + "commanded": 0.007512264846987954, + "achieved": 0.007692551705986261 + }, + { + "step": 36, + "commanded": 0.0091615308416076, + "achieved": 0.009326253086328506 + }, + { + "step": 40, + "commanded": 0.010919142777479632, + "achieved": 0.01107056811451912 + }, + { + "step": 44, + "commanded": 0.012767042997728652, + "achieved": 0.012907452881336212 + }, + { + "step": 48, + "commanded": 0.014687173845479268, + "achieved": 0.014818836003541946 + }, + { + "step": 52, + "commanded": 0.01666147766385607, + "achieved": 0.016786690801382065 + }, + { + "step": 56, + "commanded": 0.018671896795983668, + "achieved": 0.018792971968650818 + }, + { + "step": 60, + "commanded": 0.020700373584986664, + "achieved": 0.020819567143917084 + }, + { + "step": 64, + "commanded": 0.02272885037398966, + "achieved": 0.02284848876297474 + }, + { + "step": 68, + "commanded": 0.02473926950611726, + "achieved": 0.024861671030521393 + }, + { + "step": 72, + "commanded": 0.026713573324494064, + "achieved": 0.026841046288609505 + }, + { + "step": 76, + "commanded": 0.028633704172244673, + "achieved": 0.028768576681613922 + }, + { + "step": 80, + "commanded": 0.030481604392493693, + "achieved": 0.030626200139522552 + }, + { + "step": 84, + "commanded": 0.032239216328365725, + "achieved": 0.0323958620429039 + }, + { + "step": 88, + "commanded": 0.03388848232298537, + "achieved": 0.03405953198671341 + }, + { + "step": 92, + "commanded": 0.03541134471947724, + "achieved": 0.03559914603829384 + }, + { + "step": 96, + "commanded": 0.03678974586096593, + "achieved": 0.036996643990278244 + }, + { + "step": 100, + "commanded": 0.03800562809057603, + "achieved": 0.03823399171233177 + }, + { + "step": 104, + "commanded": 0.03904093375143216, + "achieved": 0.03929312527179718 + }, + { + "step": 108, + "commanded": 0.03987760518665891, + "achieved": 0.04015601798892021 + }, + { + "step": 112, + "commanded": 0.04049758473938089, + "achieved": 0.04080457612872124 + }, + { + "step": 116, + "commanded": 0.04088281475272271, + "achieved": 0.041220780462026596 + }, + { + "step": 120, + "commanded": 0.04101523756980896, + "achieved": 0.04138658940792084 + } + ], + "samples_omitted": 89, + "last_commanded_position": 0.04101523756980896, + "last_achieved_position": 0.04138658940792084 + }, + { + "phase": "upper_endpoint", + "start_position": 0.04138658940792084, + "commanded_target": 0.7792895138263702, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 0.041539465129530675, + "achieved": 0.04162011295557022 + }, + { + "step": 4, + "commanded": 0.043791606346766154, + "achieved": 0.043578196316957474 + }, + { + "step": 8, + "commanded": 0.05078801925977071, + "achieved": 0.04999062046408653 + }, + { + "step": 12, + "commanded": 0.06204787129163743, + "achieved": 0.060722559690475464 + }, + { + "step": 16, + "commanded": 0.0772432055870692, + "achieved": 0.07543032616376877 + }, + { + "step": 20, + "commanded": 0.09604606529076894, + "achieved": 0.0937860906124115 + }, + { + "step": 24, + "commanded": 0.1181284935474396, + "achieved": 0.11546197533607483 + }, + { + "step": 28, + "commanded": 0.143162533501784, + "achieved": 0.1401301622390747 + }, + { + "step": 32, + "commanded": 0.17082022829850516, + "achieved": 0.16746269166469574 + }, + { + "step": 36, + "commanded": 0.2007736210823059, + "achieved": 0.1971316933631897 + }, + { + "step": 40, + "commanded": 0.2326947549978892, + "achieved": 0.22880925238132477 + }, + { + "step": 44, + "commanded": 0.2662556731899579, + "achieved": 0.26216745376586914 + }, + { + "step": 48, + "commanded": 0.3011284188032151, + "achieved": 0.29687851667404175 + }, + { + "step": 52, + "commanded": 0.3369850349823634, + "achieved": 0.33261457085609436 + }, + { + "step": 56, + "commanded": 0.3734975648721059, + "achieved": 0.36904796957969666 + }, + { + "step": 60, + "commanded": 0.41033805161714554, + "achieved": 0.40585044026374817 + }, + { + "step": 64, + "commanded": 0.4471785383621852, + "achieved": 0.44269466400146484 + }, + { + "step": 68, + "commanded": 0.4836910682519277, + "achieved": 0.4792526662349701 + }, + { + "step": 72, + "commanded": 0.519547684431076, + "achieved": 0.5151965618133545 + }, + { + "step": 76, + "commanded": 0.5544204300443332, + "achieved": 0.5501989126205444 + }, + { + "step": 80, + "commanded": 0.5879813482364018, + "achieved": 0.5839313268661499 + }, + { + "step": 84, + "commanded": 0.6199024821519851, + "achieved": 0.6160666942596436 + }, + { + "step": 88, + "commanded": 0.6498558749357859, + "achieved": 0.6462769508361816 + }, + { + "step": 92, + "commanded": 0.6775135697325071, + "achieved": 0.6742347478866577 + }, + { + "step": 96, + "commanded": 0.7025476096868516, + "achieved": 0.6996111869812012 + }, + { + "step": 100, + "commanded": 0.7246300379435222, + "achieved": 0.7220801115036011 + }, + { + "step": 104, + "commanded": 0.743432897647222, + "achieved": 0.7413127422332764 + }, + { + "step": 108, + "commanded": 0.7586282319426536, + "achieved": 0.7569807171821594 + }, + { + "step": 112, + "commanded": 0.7698880839745204, + "achieved": 0.7687575221061707 + }, + { + "step": 116, + "commanded": 0.7768844968875249, + "achieved": 0.7763156294822693 + }, + { + "step": 120, + "commanded": 0.7792895138263702, + "achieved": 0.7793254256248474 + } + ], + "samples_omitted": 89, + "last_commanded_position": 0.7792895138263702, + "last_achieved_position": 0.7793254256248474 + }, + { + "phase": "restore", + "start_position": 0.7793254256248474, + "commanded_target": 0.00038550960016436875, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 0.7791640480265043, + "achieved": 0.7793415784835815 + }, + { + "step": 4, + "commanded": 0.7767866584911374, + "achieved": 0.7774710059165955 + }, + { + "step": 8, + "commanded": 0.7694011541021626, + "achieved": 0.7706835865974426 + }, + { + "step": 12, + "commanded": 0.7575151079761563, + "achieved": 0.7593564987182617 + }, + { + "step": 16, + "commanded": 0.7414747156313517, + "achieved": 0.7438333034515381 + }, + { + "step": 20, + "commanded": 0.721626172585982, + "achieved": 0.7244592905044556 + }, + { + "step": 24, + "commanded": 0.6983156743582803, + "achieved": 0.7015809416770935 + }, + { + "step": 28, + "commanded": 0.67188941646648, + "achieved": 0.6755446195602417 + }, + { + "step": 32, + "commanded": 0.6426935944288141, + "achieved": 0.6466947793960571 + }, + { + "step": 36, + "commanded": 0.6110744037635158, + "achieved": 0.615379273891449 + }, + { + "step": 40, + "commanded": 0.5773780399888184, + "achieved": 0.5819429159164429 + }, + { + "step": 44, + "commanded": 0.5419506986229552, + "achieved": 0.5467319488525391 + }, + { + "step": 48, + "commanded": 0.5051385751841588, + "achieved": 0.5100929737091064 + }, + { + "step": 52, + "commanded": 0.46728786519066323, + "achieved": 0.4723709225654602 + }, + { + "step": 56, + "commanded": 0.4287447641607012, + "achieved": 0.43391281366348267 + }, + { + "step": 60, + "commanded": 0.3898554676125059, + "achieved": 0.39506369829177856 + }, + { + "step": 64, + "commanded": 0.3509661710643106, + "achieved": 0.3561703860759735 + }, + { + "step": 68, + "commanded": 0.31242307003434855, + "achieved": 0.31757843494415283 + }, + { + "step": 72, + "commanded": 0.27457236004085284, + "achieved": 0.27963414788246155 + }, + { + "step": 76, + "commanded": 0.2377602366020567, + "achieved": 0.2426830381155014 + }, + { + "step": 80, + "commanded": 0.20233289523619336, + "achieved": 0.20707178115844727 + }, + { + "step": 84, + "commanded": 0.16863653146149593, + "achieved": 0.17314623296260834 + }, + { + "step": 88, + "commanded": 0.13701734079619765, + "achieved": 0.14125245809555054 + }, + { + "step": 92, + "commanded": 0.10782151875853174, + "achieved": 0.11173662543296814 + }, + { + "step": 96, + "commanded": 0.08139526086673132, + "achieved": 0.08494479209184647 + }, + { + "step": 100, + "commanded": 0.05808476263902973, + "achieved": 0.061223145574331284 + }, + { + "step": 104, + "commanded": 0.03823621959365997, + "achieved": 0.040917884558439255 + }, + { + "step": 108, + "commanded": 0.022195827248855493, + "achieved": 0.024375081062316895 + }, + { + "step": 112, + "commanded": 0.010309781122849193, + "achieved": 0.011940964497625828 + }, + { + "step": 116, + "commanded": 0.00292427673387452, + "achieved": 0.003961621783673763 + }, + { + "step": 120, + "commanded": 0.00038550960016436875, + "achieved": 0.0007832014234736562 + } + ], + "samples_omitted": 89, + "last_commanded_position": 0.00038550960016436875, + "last_achieved_position": 0.0007832014234736562 + } + ], + "endpoints": { + "lower": { + "commanded": 0.04101523756980896, + "achieved": 0.04138658940792084, + "geometry": { + "coordinate_basis": "world and gripper-base-relative stage lengths; geometry proxies, not contacts", + "reference_path": "/World/AssetRoot/Asset/base_link", + "reference_position_world": [ + 8.731149137020111e-11, + 2.473825588822365e-10, + -9.918585419654846e-05 + ], + "reference_quaternion_xyzw": [ + -7.275957614183426e-12, + 1.0000001192092896, + 0.0, + 1.4551915228366852e-11 + ], + "candidate_count": 8, + "candidates": [ + { + "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", + "body_position_world": [ + -3.1104718800634146e-10, + -0.00228775292634964, + 0.0011200644075870514 + ], + "body_quaternion_xyzw": [ + 2.9103830456733704e-10, + 0.9997860193252563, + 0.02069181762635708, + 1.6937065083766356e-09 + ], + "tip_position_world": [ + -1.2653947160934376e-10, + -0.06757451848050214, + -0.06616929473684008 + ], + "tip_position_reference": [ + 2.167572028688808e-10, + -0.0675745187278847, + 0.06607010888264353 + ], + "geometry_min_world": [ + -0.008250000150343542, + -0.0684085014847567, + -0.06616929476468089 + ], + "geometry_max_world": [ + 0.0082499998517818, + -0.02263057022415341, + -0.04416861505075102 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_outer_knuckle", + "body_position_world": [ + 2.091837814077735e-10, + 0.0022879838943481445, + 0.0011201836168766022 + ], + "body_quaternion_xyzw": [ + 3.8562575355172157e-10, + 0.9997859001159668, + -0.020693883299827576, + -3.8630787457805127e-10 + ], + "tip_position_world": [ + 2.096651793154214e-10, + 0.06757447117982478, + -0.06616944551357612 + ], + "tip_position_reference": [ + -1.2141412007397577e-10, + 0.06757447093244222, + 0.06607025965937957 + ], + "geometry_min_world": [ + -0.00824999977959749, + 0.02263053061929329, + -0.06616944551981715 + ], + "geometry_max_world": [ + 0.008250000180853527, + 0.06840853747015246, + -0.04416858343712013 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_inner_finger", + "body_position_world": [ + -8.203038248666417e-11, + -0.0018290132284164429, + -0.0015997067093849182 + ], + "body_quaternion_xyzw": [ + -1.7446257771780438e-08, + 1.0000001192092896, + 4.6193599700927734e-07, + 2.40931967709912e-08 + ], + "tip_position_world": [ + 5.2160283826527265e-09, + 0.05129914845599001, + -0.1500198424765261 + ], + "tip_position_reference": [ + -5.125100108317271e-09, + 0.051299148208607454, + 0.14992065662232956 + ], + "geometry_min_world": [ + -0.013499998636305695, + 0.04171951219856958, + -0.15001985185690034 + ], + "geometry_max_world": [ + 0.013500004455660899, + 0.07297990375307059, + -0.0930398228495796 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_inner_knuckle", + "body_position_world": [ + -3.296571904343182e-10, + 0.0025422126054763794, + 0.00037397444248199463 + ], + "body_quaternion_xyzw": [ + -1.6943909386668565e-08, + 0.9997859001159668, + -0.02069467306137085, + 2.44490880874082e-08 + ], + "tip_position_world": [ + 3.2502819012625306e-09, + 0.05485302154228481, + -0.11179861115170817 + ], + "tip_position_reference": [ + -3.16051773149787e-09, + 0.05485302129490225, + 0.11169942529751162 + ], + "geometry_min_world": [ + -0.017499999526000704, + 0.00469672830404792, + -0.11179861199497027 + ], + "geometry_max_world": [ + 0.01750000497476949, + 0.05710757103258205, + -0.05528461538588632 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/left_inner_knuckle", + "body_position_world": [ + -1.4983054796857687e-09, + -0.002541862428188324, + 0.0003738030791282654 + ], + "body_quaternion_xyzw": [ + -2.5688606797302782e-08, + 0.9997860193252563, + 0.02069208025932312, + -1.5876665315772698e-08 + ], + "tip_position_world": [ + -2.2187279756502587e-09, + -0.05485325347572701, + -0.11179851105043183 + ], + "tip_position_reference": [ + 2.3100885787253483e-09, + -0.05485325372310957, + 0.11169932519623528 + ], + "geometry_min_world": [ + -0.01750000483879782, + -0.05710752077038048, + -0.11179851158739182 + ], + "geometry_max_world": [ + 0.01749999964335768, + -0.004696949158532672, + -0.055284764174271195 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/left_inner_finger", + "body_position_world": [ + -1.7862795687051403e-09, + 0.0018293894827365875, + -0.0015999525785446167 + ], + "body_quaternion_xyzw": [ + -2.6011679921111863e-08, + 1.0, + -3.4123659133911133e-06, + -1.5341626635745342e-08 + ], + "tip_position_world": [ + -4.074727496389263e-09, + -0.0417200472411008, + -0.150019840219467 + ], + "tip_position_reference": [ + 4.167009377948062e-09, + -0.04172004748848336, + 0.14992065436527044 + ], + "geometry_min_world": [ + -0.013500003464403939, + -0.07298023241370077, + -0.15001984055698472 + ], + "geometry_max_world": [ + 0.01349999965004478, + -0.04171978732774725, + -0.09303962751665121 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/left_outer_finger", + "body_position_world": [ + -1.4897523215040565e-09, + -0.002287738025188446, + 0.0011200755834579468 + ], + "body_quaternion_xyzw": [ + -2.56886121263733e-08, + 0.9997860193252563, + 0.02069181203842163, + -1.587666176305902e-08 + ], + "tip_position_world": [ + -9.649429467267767e-10, + -0.07518565902255671, + -0.10537313671952167 + ], + "tip_position_reference": [ + 1.056412421416472e-09, + -0.07518565926993927, + 0.10527395086532512 + ], + "geometry_min_world": [ + -0.013600002645334255, + -0.07764035580961264, + -0.10537313713681638 + ], + "geometry_max_world": [ + 0.013600001161901016, + -0.04562882812180189, + -0.04487163703640862 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_outer_finger", + "body_position_world": [ + -3.54702933691442e-10, + 0.0022879838943481445, + 0.0011201873421669006 + ], + "body_quaternion_xyzw": [ + -1.69439289265938e-08, + 0.9997859001159668, + -0.020693928003311157, + 2.4449073876553484e-08 + ], + "tip_position_world": [ + 2.233262085676868e-09, + 0.07518545379040896, + -0.10537333375230598 + ], + "tip_position_reference": [ + -2.143980792678337e-09, + 0.0751854535430264, + 0.10527414789810943 + ], + "geometry_min_world": [ + -0.013600000889072261, + 0.04562862830751732, + -0.10537333440764104 + ], + "geometry_max_world": [ + 0.013600003385893475, + 0.07764040144158584, + -0.0448717190282244 + ] + } + ], + "candidates_omitted": 0 + } + }, + "upper": { + "commanded": 0.7792895138263702, + "achieved": 0.7793254256248474, + "geometry": { + "coordinate_basis": "world and gripper-base-relative stage lengths; geometry proxies, not contacts", + "reference_path": "/World/AssetRoot/Asset/base_link", + "reference_position_world": [ + 8.731149137020111e-11, + 2.473825588822365e-10, + -9.913742542266846e-05 + ], + "reference_quaternion_xyzw": [ + -7.275957614183426e-12, + 1.0000001192092896, + 0.0, + 1.4551915228366852e-11 + ], + "candidate_count": 8, + "candidates": [ + { + "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", + "body_position_world": [ + -1.7462298274040222e-10, + -0.047246579080820084, + 0.005630970001220703 + ], + "body_quaternion_xyzw": [ + 9.313225746154785e-10, + 0.9250372648239136, + 0.3798764646053314, + 1.0913936421275139e-09 + ], + "tip_position_world": [ + -5.945900022341633e-11, + -0.05027954915884343, + -0.08807613060004854 + ], + "tip_position_reference": [ + 1.5006263351459804e-10, + -0.05027954940622599, + 0.08797699317462587 + ], + "geometry_min_world": [ + -0.008250000069717763, + -0.06444574315358134, + -0.08807613061086911 + ], + "geometry_max_world": [ + 0.008249999936044064, + -0.01827957265609585, + -0.0421231639665732 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_outer_knuckle", + "body_position_world": [ + 2.9103830456733704e-10, + 0.04724680632352829, + 0.005630910396575928 + ], + "body_quaternion_xyzw": [ + 4.656612873077393e-10, + 0.9250366687774658, + -0.37987813353538513, + 1.5279510989785194e-10 + ], + "tip_position_world": [ + 3.5294075995118135e-10, + 0.05027944463224762, + -0.08807620094231366 + ], + "tip_position_reference": [ + -2.6380045039141747e-10, + 0.05027944438486506, + 0.087977063516891 + ], + "geometry_min_world": [ + -0.008249999646330344, + 0.01827958007255057, + -0.08807620094756456 + ], + "geometry_max_world": [ + 0.008250000309670555, + 0.06444568938017954, + -0.04212317117432321 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_inner_finger", + "body_position_world": [ + 5.0946322716072245e-09, + -0.041247542947530746, + -0.013680696487426758 + ], + "body_quaternion_xyzw": [ + -2.910286589496991e-08, + 1.0, + -3.427267074584961e-07, + 5.666372704382638e-09 + ], + "tip_position_world": [ + 3.6842880855522675e-09, + 0.011880379880527443, + -0.16210091775487062 + ], + "tip_position_reference": [ + -3.592434584250866e-09, + 0.011880379633144884, + 0.16200178032944795 + ], + "geometry_min_world": [ + -0.01349999857357585, + 0.0023007784739654674, + -0.16210092444590068 + ], + "geometry_max_world": [ + 0.013500004184296388, + 0.03356120134119529, + -0.10512091302100186 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_inner_knuckle", + "body_position_world": [ + -7.685274638902229e-11, + 0.04665592312812805, + -0.008828118443489075 + ], + "body_quaternion_xyzw": [ + -2.4768683104525735e-08, + 0.9250364303588867, + -0.37987858057022095, + 1.629714674322713e-08 + ], + "tip_position_world": [ + 3.402321941542441e-09, + 0.009892844268219413, + -0.12701265940908807 + ], + "tip_position_reference": [ + -3.3114607248137337e-09, + 0.009892844020836854, + 0.1269135219836654 + ], + "geometry_min_world": [ + -0.017499999340185774, + -0.025818157102470637, + -0.12701265960741073 + ], + "geometry_max_world": [ + 0.017500005155591906, + 0.04818393391178261, + -0.05297380575729428 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/left_inner_knuckle", + "body_position_world": [ + -1.2624163936436616e-09, + -0.04665569216012955, + -0.00882808119058609 + ], + "body_quaternion_xyzw": [ + -2.9070744034243035e-08, + 0.9250372648239136, + 0.3798764944076538, + -5.848664663687941e-09 + ], + "tip_position_world": [ + -2.071490947525012e-09, + -0.009893144367911336, + -0.12701278735146837 + ], + "tip_position_reference": [ + 2.162640091972367e-09, + -0.009893144615293895, + 0.1269136499260457 + ], + "geometry_min_world": [ + -0.017500004622804488, + -0.048184059847819635, + -0.12701278754862544 + ], + "geometry_max_world": [ + 0.017499999795902367, + 0.025818015535923083, + -0.05297392210785004 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/left_inner_finger", + "body_position_world": [ + -6.326068557882536e-09, + 0.04124782606959343, + -0.01368105411529541 + ], + "body_quaternion_xyzw": [ + -2.9113278898762474e-08, + 1.0, + -2.115964889526367e-06, + 5.633123301151954e-09 + ], + "tip_position_world": [ + -2.1182381248346926e-09, + -0.0023012258307088043, + -0.16210105467078761 + ], + "tip_position_reference": [ + 2.2102979996203993e-09, + -0.002301226078091363, + 0.16200191724536495 + ], + "geometry_min_world": [ + -0.013500003031231505, + -0.03356148627717495, + -0.16210105479471498 + ], + "geometry_max_world": [ + 0.013499999725405014, + -0.0023010643760859456, + -0.10512092328127215 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/left_outer_finger", + "body_position_world": [ + -1.3924363884143531e-09, + -0.04724658280611038, + 0.005630955100059509 + ], + "body_quaternion_xyzw": [ + -2.9070745810599874e-08, + 0.9250372648239136, + 0.37987643480300903, + -5.848660222795843e-09 + ], + "tip_position_world": [ + -9.834958784871173e-10, + -0.02953576637004944, + -0.12220189722481895 + ], + "tip_position_reference": [ + 1.07479084475088e-09, + -0.029535766617432, + 0.12210275979939628 + ], + "geometry_min_world": [ + -0.013600002623369174, + -0.07123171096192499, + -0.12220189737803824 + ], + "geometry_max_world": [ + 0.013600001149128375, + -0.008491376757287894, + -0.05920610067316234 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_outer_finger", + "body_position_world": [ + -2.7421265258453786e-10, + 0.04724681377410889, + 0.005630902945995331 + ], + "body_quaternion_xyzw": [ + -2.4768686657239414e-08, + 0.9250365495681763, + -0.37987813353538513, + 1.6297136085086095e-08 + ], + "tip_position_world": [ + 2.2053799793309015e-09, + 0.029535526120837423, + -0.12220188409242103 + ], + "tip_position_reference": [ + -2.1149446137876284e-09, + 0.029535525873454864, + 0.12210274666699836 + ], + "geometry_min_world": [ + -0.013600000880177309, + 0.008491213145809431, + -0.12220188424654613 + ], + "geometry_max_world": [ + 0.013600003374971536, + 0.07123162628988003, + -0.059206163666027656 + ] + } + ], + "candidates_omitted": 0 + } + } + }, + "achieved_endpoint_delta": 0.7379388362169266, + "required_endpoint_delta": 8.203047513961793e-05, + "aperture_change_tolerance_m": 8.500000089406967e-05, + "max_opening_m": 0.08500000089406967, + "candidate_branches": { + "/World/AssetRoot/Asset/left_outer_knuckle": 0, + "/World/AssetRoot/Asset/right_outer_knuckle": 1, + "/World/AssetRoot/Asset/right_inner_finger": 1, + "/World/AssetRoot/Asset/right_inner_knuckle": 1, + "/World/AssetRoot/Asset/left_inner_knuckle": 0, + "/World/AssetRoot/Asset/left_inner_finger": 0, + "/World/AssetRoot/Asset/left_outer_finger": 0, + "/World/AssetRoot/Asset/right_outer_finger": 1 + }, + "candidate_branches_omitted": 0, + "pair_observations": [ + { + "body_paths": [ + "/World/AssetRoot/Asset/left_outer_knuckle", + "/World/AssetRoot/Asset/right_outer_knuckle" + ], + "lower_m": 0.1351489896603269, + "upper_m": 0.10055899379109105, + "change_m": -0.03458999586923585 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/left_outer_knuckle", + "/World/AssetRoot/Asset/right_inner_finger" + ], + "lower_m": 0.11887366693649226, + "upper_m": 0.06215992903937098, + "change_m": -0.05671373789712128 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/left_outer_knuckle", + "/World/AssetRoot/Asset/right_inner_knuckle" + ], + "lower_m": 0.12242754002278698, + "upper_m": 0.06017239342706295, + "change_m": -0.06225514659572403 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/left_outer_knuckle", + "/World/AssetRoot/Asset/right_outer_finger" + ], + "lower_m": 0.1427599722709111, + "upper_m": 0.07981507527968087, + "change_m": -0.06294489699123024 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/right_outer_knuckle", + "/World/AssetRoot/Asset/left_inner_knuckle" + ], + "lower_m": 0.12242772465555182, + "upper_m": 0.060172589000159, + "change_m": -0.06225513565539282 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/right_outer_knuckle", + "/World/AssetRoot/Asset/left_inner_finger" + ], + "lower_m": 0.10929451842092566, + "upper_m": 0.05258067046295649, + "change_m": -0.056713847957969174 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/right_outer_knuckle", + "/World/AssetRoot/Asset/left_outer_finger" + ], + "lower_m": 0.14276013020238149, + "upper_m": 0.07981521100229708, + "change_m": -0.06294491920008441 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/right_inner_finger", + "/World/AssetRoot/Asset/left_inner_knuckle" + ], + "lower_m": 0.10615240193171728, + "upper_m": 0.02177352424843954, + "change_m": -0.08437887768327774 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/right_inner_finger", + "/World/AssetRoot/Asset/left_inner_finger" + ], + "lower_m": 0.09301919569709129, + "upper_m": 0.014181605711237433, + "change_m": -0.07883758998585386 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/right_inner_finger", + "/World/AssetRoot/Asset/left_outer_finger" + ], + "lower_m": 0.1264848074785469, + "upper_m": 0.04141614625057714, + "change_m": -0.08506866122796976 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/right_inner_knuckle", + "/World/AssetRoot/Asset/left_inner_knuckle" + ], + "lower_m": 0.10970627501801196, + "upper_m": 0.019785988636131506, + "change_m": -0.08992028638188046 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/right_inner_knuckle", + "/World/AssetRoot/Asset/left_inner_finger" + ], + "lower_m": 0.0965730687833859, + "upper_m": 0.012194070098929468, + "change_m": -0.08437899868445643 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/right_inner_knuckle", + "/World/AssetRoot/Asset/left_outer_finger" + ], + "lower_m": 0.1300386805648416, + "upper_m": 0.0394286106382691, + "change_m": -0.0906100699265725 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/left_inner_knuckle", + "/World/AssetRoot/Asset/right_outer_finger" + ], + "lower_m": 0.13003870726613606, + "upper_m": 0.039428670488749, + "change_m": -0.09061003677738706 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/left_inner_finger", + "/World/AssetRoot/Asset/right_outer_finger" + ], + "lower_m": 0.11690550103150993, + "upper_m": 0.031836751951546526, + "change_m": -0.0850687490799634 + }, + { + "body_paths": [ + "/World/AssetRoot/Asset/left_outer_finger", + "/World/AssetRoot/Asset/right_outer_finger" + ], + "lower_m": 0.1503711128129657, + "upper_m": 0.059071292490886954, + "change_m": -0.09129982032207874 + } + ], + "pair_observations_omitted": 0, + "same_branch_pairs_ignored": 12 + }, + "unit": null + }, + "detect_aperture_lower_m_dof_1": { + "value": 0.09301919569709129, + "unit": null + }, + "detect_aperture_upper_m_dof_1": { + "value": 0.014181605711237433, + "unit": null + }, + "detect_achieved_lower_dof_1": { + "value": 0.04138658940792084, + "unit": null + }, + "detect_achieved_upper_dof_1": { + "value": 0.7793254256248474, + "unit": null + }, + "detect_used_authored_grip_line": { + "value": false, + "unit": null + }, + "gripper_trial_controls": { + "value": { + "schema_version": 1, + "shape": "sphere", + "configured_trial": false, + "object_size_m": 0.059500000625848766, + "object_mass_kg": 0.25, + "max_opening_m": 0.08500000089406967, + "hand_controls": {}, + "procedure_settings": { + "object_size_fraction": 0.7, + "static_friction": 2.0, + "dynamic_friction": 2.0, + "restitution": 0.0, + "payload_mass_fraction": 0.5, + "tested_mass_kg_override": null, + "open_limit_backoff_frac": 0.0, + "descent_contact_chunks": 12, + "descent_contact_max_step_m": 0.005, + "descent_contact_drop_m": 0.003, + "contact_backoff_m": null, + "heuristic_payload_kg_per_m_opening": 50.0, + "heuristic_payload_floor_kg": 0.1, + "heuristic_payload_ceiling_kg": 50.0, + "spawn_ground_clearance_m": 0.005, + "mount_height_m": 0.3, + "approach_extra_clearance_m": 0.03, + "open_close_detect_steps": 120, + "open_steps_max": 600, + "close_steps": 600, + "close_ramp_steps": 300, + "close_position_stall_eps": 0.001, + "close_stall_window": 8, + "close_engage_eps": 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": 0.8203047513961792, + "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": 0.12425000093877314, + "unit": null + }, + "approach_clearance_m_sphere": { + "value": 0.08950000062584876, + "unit": null + }, + "spawn_center_z_sphere": { + "value": 0.034750000312924384, + "unit": null + }, + "open_joint_actual_sphere": { + "value": 0.00038552688783966005, + "unit": null + }, + "open_joint_expected_sphere": { + "value": 0.0, + "unit": null + }, + "open_joint_worst_error_sphere": { + "value": 0.00038552688783966005, + "unit": null + }, + "measured_separation_after_open_sphere": { + "value": 3.4486055385651016e-05, + "unit": null + }, + "descent_total_sphere": { + "value": 0.10571615589403667, + "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": 0.06791061908006668, + "unit": null + }, + "close_joint_fraction_sphere": { + "value": 0.08278706049731042, + "unit": null + }, + "object_lateral_drift_after_close_sphere": { + "value": 0.0003219906146333261, + "unit": null + }, + "object_z_drift_from_spawn_after_close_sphere": { + "value": -0.0050000033527612675, + "unit": null + }, + "grip_confirmed_contact_sphere": { + "value": true, + "unit": null + }, + "grip_object_retained_sphere": { + "value": true, + "unit": null + }, + "vertical_follow_dz_m_sphere": { + "value": 0.006389595568180084, + "unit": null + }, + "horizontal_drift_m_sphere": { + "value": 0.00041418789533817485, + "unit": null + }, + "pre_load_dz_m_sphere": { + "value": 0.0, + "unit": null + }, + "shake_object_min_z_sphere": { + "value": 0.20071209967136383, + "unit": null + }, + "shake_max_relative_slip_m_sphere": { + "value": 6.0811638832092285e-05, + "unit": null + }, + "shake_passed_sphere": { + "value": true, + "unit": null + }, + "drop_pre_z_sphere": { + "value": 0.22072383761405945, + "unit": null + }, + "drop_post_z_sphere": { + "value": 0.029750000685453415, + "unit": null + }, + "drop_dz_sphere": { + "value": 0.19097383692860603, + "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": 491, + "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/Joints/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/Joints/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": 406, + "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/right_inner_finger", + "/World/AssetRoot/Asset/left_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": 354.86, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 27.563, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 612.51, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.25, + "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": 47.0, + "unit": null + }, + "jm_joint_finger_joint_trans_pct": { + "value": 96.11, + "unit": null + }, + "jm_joint_finger_joint_bbox_m": { + "value": 0.052, + "unit": null + }, + "jm_joint_finger_joint_translation_stage_units": { + "value": 0.049957515753978464, + "unit": null + }, + "jm_joint_finger_joint_bbox_diagonal_stage_units": { + "value": 0.05198046838742326, + "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 + }, + "jm_joint_right_outer_knuckle_joint_rot_deg": { + "value": 47.003, + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_trans_pct": { + "value": 96.11, + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_bbox_m": { + "value": 0.052, + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_translation_stage_units": { + "value": 0.04995987249410089, + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_bbox_diagonal_stage_units": { + "value": 0.05198046687954414, + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_right_inner_finger_joint_rot_deg": { + "value": 180.0, + "unit": null + }, + "jm_joint_right_inner_finger_joint_trans_pct": { + "value": 338.8, + "unit": null + }, + "jm_joint_right_inner_finger_joint_bbox_m": { + "value": 0.0704, + "unit": null + }, + "jm_joint_right_inner_finger_joint_translation_stage_units": { + "value": 0.23843714973708238, + "unit": null + }, + "jm_joint_right_inner_finger_joint_bbox_diagonal_stage_units": { + "value": 0.07037707241936023, + "unit": null + }, + "jm_joint_right_inner_finger_joint_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_right_inner_finger_joint_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_right_inner_finger_joint_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_right_inner_finger_joint_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_right_inner_finger_joint_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_right_inner_finger_joint_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_right_inner_finger_joint_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_rot_deg": { + "value": 180.0, + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_trans_pct": { + "value": 282.85, + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_bbox_m": { + "value": 0.0819, + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_translation_stage_units": { + "value": 0.23175145422161336, + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_bbox_diagonal_stage_units": { + "value": 0.08193539997190671, + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_rot_deg": { + "value": 180.0, + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_trans_pct": { + "value": 282.85, + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_bbox_m": { + "value": 0.0819, + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_translation_stage_units": { + "value": 0.23175145760446986, + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_bbox_diagonal_stage_units": { + "value": 0.08193540743303192, + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_left_inner_finger_joint_rot_deg": { + "value": 179.999, + "unit": null + }, + "jm_joint_left_inner_finger_joint_trans_pct": { + "value": 338.8, + "unit": null + }, + "jm_joint_left_inner_finger_joint_bbox_m": { + "value": 0.0704, + "unit": null + }, + "jm_joint_left_inner_finger_joint_translation_stage_units": { + "value": 0.23843715036340485, + "unit": null + }, + "jm_joint_left_inner_finger_joint_bbox_diagonal_stage_units": { + "value": 0.07037707716761843, + "unit": null + }, + "jm_joint_left_inner_finger_joint_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_left_inner_finger_joint_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_left_inner_finger_joint_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_left_inner_finger_joint_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_left_inner_finger_joint_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_left_inner_finger_joint_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_left_inner_finger_joint_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joints_total": { + "value": 6, + "unit": null + }, + "jm_joints_passed": { + "value": 6, + "unit": null + }, + "jm_joints_failed": { + "value": 0, + "unit": null + }, + "jm_joint_finger_joint_status": { + "value": "passed", + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_status": { + "value": "passed", + "unit": null + }, + "jm_joint_right_inner_finger_joint_status": { + "value": "passed", + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_status": { + "value": "passed", + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_status": { + "value": "passed", + "unit": null + }, + "jm_joint_left_inner_finger_joint_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" + }, + "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": "finger_joint", + "authored_joint_name": "finger_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "child_body_path": "/World/AssetRoot/Asset/left_outer_knuckle", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "phase": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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": "right_outer_knuckle_joint", + "authored_joint_name": "right_outer_knuckle_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/right_outer_knuckle_joint", + "child_body_path": "/World/AssetRoot/Asset/right_outer_knuckle", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "phase": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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": "right_inner_finger_joint", + "authored_joint_name": "right_inner_finger_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/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": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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": "right_inner_finger_knuckle_joint", + "authored_joint_name": "right_inner_finger_knuckle_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/right_inner_finger_knuckle_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": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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": "left_inner_finger_knuckle_joint", + "authored_joint_name": "left_inner_finger_knuckle_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/left_inner_finger_knuckle_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": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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_joint", + "authored_joint_name": "left_inner_finger_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/left_inner_finger_joint", + "child_body_path": "/World/AssetRoot/Asset/left_inner_finger", + "parent_body_path": "/World/AssetRoot/Asset/left_outer_finger", + "reference_frame": "/World/AssetRoot/Asset/left_outer_finger", + "phase": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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": "finger_joint", + "authored_joint_name": "finger_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "child_body_path": "/World/AssetRoot/Asset/left_outer_knuckle", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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": "right_outer_knuckle_joint", + "authored_joint_name": "right_outer_knuckle_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/right_outer_knuckle_joint", + "child_body_path": "/World/AssetRoot/Asset/right_outer_knuckle", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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": "right_inner_finger_joint", + "authored_joint_name": "right_inner_finger_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/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": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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": "right_inner_finger_knuckle_joint", + "authored_joint_name": "right_inner_finger_knuckle_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/right_inner_finger_knuckle_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": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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 + }, + "motion_history_joint_movement_010": { + "value": { + "schema_version": 1, + "name": "joint_movement_010", + "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_knuckle_joint", + "authored_joint_name": "left_inner_finger_knuckle_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/left_inner_finger_knuckle_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": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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_010.json", + "csv": "motion_history/joint_movement_010.csv" + }, + "unit": null + }, + "motion_history_joint_movement_011": { + "value": { + "schema_version": 1, + "name": "joint_movement_011", + "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_joint", + "authored_joint_name": "left_inner_finger_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/left_inner_finger_joint", + "child_body_path": "/World/AssetRoot/Asset/left_inner_finger", + "parent_body_path": "/World/AssetRoot/Asset/left_outer_finger", + "reference_frame": "/World/AssetRoot/Asset/left_outer_finger", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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_011.json", + "csv": "motion_history/joint_movement_011.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "joint_movement_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 84.343, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 7.627, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 169.49, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.797, + "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": 43.986, + "unit": null + }, + "jm_joint_finger_joint_trans_pct": { + "value": 90.26, + "unit": null + }, + "jm_joint_finger_joint_bbox_m": { + "value": 0.052, + "unit": null + }, + "jm_joint_finger_joint_translation_stage_units": { + "value": 0.04691834578234068, + "unit": null + }, + "jm_joint_finger_joint_bbox_diagonal_stage_units": { + "value": 0.05198046687954413, + "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": 93.6, + "unit": null + }, + "jm_joint_finger_joint_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_rot_deg": { + "value": 46.273, + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_trans_pct": { + "value": 94.7, + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_bbox_m": { + "value": 0.052, + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_translation_stage_units": { + "value": 0.04922733959660731, + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_bbox_diagonal_stage_units": { + "value": 0.05198046687954414, + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_pct_of_travel": { + "value": 98.5, + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_right_inner_finger_joint_rot_deg": { + "value": 176.673, + "unit": null + }, + "jm_joint_right_inner_finger_joint_trans_pct": { + "value": 338.66, + "unit": null + }, + "jm_joint_right_inner_finger_joint_bbox_m": { + "value": 0.0704, + "unit": null + }, + "jm_joint_right_inner_finger_joint_translation_stage_units": { + "value": 0.23833662377638096, + "unit": null + }, + "jm_joint_right_inner_finger_joint_bbox_diagonal_stage_units": { + "value": 0.07037706888273138, + "unit": null + }, + "jm_joint_right_inner_finger_joint_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_right_inner_finger_joint_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_right_inner_finger_joint_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_right_inner_finger_joint_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_right_inner_finger_joint_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_right_inner_finger_joint_pct_of_travel": { + "value": 98.2, + "unit": null + }, + "jm_joint_right_inner_finger_joint_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_rot_deg": { + "value": 176.29, + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_trans_pct": { + "value": 282.7, + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_bbox_m": { + "value": 0.0819, + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_translation_stage_units": { + "value": 0.23162994502066395, + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_bbox_diagonal_stage_units": { + "value": 0.08193539336960073, + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_pct_of_travel": { + "value": 97.9, + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_rot_deg": { + "value": 176.29, + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_trans_pct": { + "value": 282.7, + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_bbox_m": { + "value": 0.0819, + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_translation_stage_units": { + "value": 0.23162995251165877, + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_bbox_diagonal_stage_units": { + "value": 0.08193539336960073, + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_pct_of_travel": { + "value": 97.9, + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_left_inner_finger_joint_rot_deg": { + "value": 176.289, + "unit": null + }, + "jm_joint_left_inner_finger_joint_trans_pct": { + "value": 338.62, + "unit": null + }, + "jm_joint_left_inner_finger_joint_bbox_m": { + "value": 0.0704, + "unit": null + }, + "jm_joint_left_inner_finger_joint_translation_stage_units": { + "value": 0.23831214146703564, + "unit": null + }, + "jm_joint_left_inner_finger_joint_bbox_diagonal_stage_units": { + "value": 0.07037706888273136, + "unit": null + }, + "jm_joint_left_inner_finger_joint_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_left_inner_finger_joint_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_left_inner_finger_joint_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_left_inner_finger_joint_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_left_inner_finger_joint_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_left_inner_finger_joint_pct_of_travel": { + "value": 97.9, + "unit": null + }, + "jm_joint_left_inner_finger_joint_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joints_total": { + "value": 6, + "unit": null + }, + "jm_joints_passed": { + "value": 6, + "unit": null + }, + "jm_joints_failed": { + "value": 0, + "unit": null + }, + "jm_joint_finger_joint_status": { + "value": "passed", + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_status": { + "value": "passed", + "unit": null + }, + "jm_joint_right_inner_finger_joint_status": { + "value": "passed", + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_status": { + "value": "passed", + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_status": { + "value": "passed", + "unit": null + }, + "jm_joint_left_inner_finger_joint_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" + }, + "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": "finger_joint", + "authored_joint_name": "finger_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "child_body_path": "/World/AssetRoot/Asset/left_outer_knuckle", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "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_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": "right_outer_knuckle_joint", + "authored_joint_name": "right_outer_knuckle_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/right_outer_knuckle_joint", + "child_body_path": "/World/AssetRoot/Asset/right_outer_knuckle", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "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": "right_inner_finger_joint", + "authored_joint_name": "right_inner_finger_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/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_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": "right_inner_finger_knuckle_joint", + "authored_joint_name": "right_inner_finger_knuckle_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/right_inner_finger_knuckle_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_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": "left_inner_finger_knuckle_joint", + "authored_joint_name": "left_inner_finger_knuckle_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/left_inner_finger_knuckle_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_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_joint", + "authored_joint_name": "left_inner_finger_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/left_inner_finger_joint", + "child_body_path": "/World/AssetRoot/Asset/left_inner_finger", + "parent_body_path": "/World/AssetRoot/Asset/left_outer_finger", + "reference_frame": "/World/AssetRoot/Asset/left_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_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": 15.14, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 5.331, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 177.7, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.672, + "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 + }, + "light_response_variation_ratio": { + "value": 0.965517, + "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": 28, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.840611, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.035709, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 15.14, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 5.331, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 177.7, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.672, + "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 + }, + "light_response_variation_ratio": { + "value": 0.965517, + "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": 28, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.840611, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.035709, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 47.078, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 8.405, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1681.0, + "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 + }, + "mdl_surface_materials_with_universal": { + "value": 16, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 16, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 16, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 16, + "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": 33, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 51325, + "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": 47.078, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 8.405, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1681.0, + "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 + }, + "mdl_surface_materials_with_universal": { + "value": 16, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 16, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 16, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 16, + "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": 33, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 51325, + "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": 83.079, + "message": "", + "metrics": { + "mim_mimic_pairs_detected": { + "value": 5, + "unit": null + }, + "mim_skipped_pairs": { + "value": 0, + "unit": null + }, + "mimic_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.8353769673976723, + "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": 2.844, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 142.2, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.282, + "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 + }, + "mim_pair_right_outer_knuckle_joint_max_error_rad": { + "value": 0.001105537513341276, + "unit": null + }, + "mim_pair_right_outer_knuckle_joint_mean_error_rad": { + "value": 0.0005997738799566436, + "unit": null + }, + "mim_pair_right_outer_knuckle_joint_ref_swept_rad": { + "value": 0.6866544410586357, + "unit": null + }, + "mim_pair_right_outer_knuckle_joint_follower_observed_rad": { + "value": 0.6870468482375145, + "unit": null + }, + "mim_pair_right_outer_knuckle_joint_follower_expected_rad": { + "value": 0.6866544410586357, + "unit": null + }, + "mim_pair_right_outer_knuckle_joint_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_right_outer_knuckle_joint_motion_ratio": { + "value": 1.0005714769400949, + "unit": null + }, + "mim_pair_right_outer_knuckle_joint_gear_ratio_error": { + "value": 0.0005714769400948505, + "unit": null + }, + "mim_pair_right_outer_knuckle_joint_abs_formula_max_error_rad": { + "value": 0.0011055395007133484, + "unit": null + }, + "mim_pair_right_outer_knuckle_joint_rest_residual_rad": { + "value": 1.9873720724650212e-09, + "unit": null + }, + "mim_pair_right_inner_finger_joint_max_error_rad": { + "value": 0.0009569376707077026, + "unit": null + }, + "mim_pair_right_inner_finger_joint_mean_error_rad": { + "value": 0.0005573017212251822, + "unit": null + }, + "mim_pair_right_inner_finger_joint_ref_swept_rad": { + "value": 0.656406968832016, + "unit": null + }, + "mim_pair_right_inner_finger_joint_follower_observed_rad": { + "value": 0.6573551520705223, + "unit": null + }, + "mim_pair_right_inner_finger_joint_follower_expected_rad": { + "value": 0.656406968832016, + "unit": null + }, + "mim_pair_right_inner_finger_joint_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_right_inner_finger_joint_motion_ratio": { + "value": 1.0014445051371004, + "unit": null + }, + "mim_pair_right_inner_finger_joint_gear_ratio_error": { + "value": 0.0014445051371003714, + "unit": null + }, + "mim_pair_right_inner_finger_joint_abs_formula_max_error_rad": { + "value": 0.00504409521818161, + "unit": null + }, + "mim_pair_right_inner_finger_joint_rest_residual_rad": { + "value": 0.005044326186180115, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_max_error_rad": { + "value": 0.00376708060503006, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_mean_error_rad": { + "value": 0.0018638414330780506, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_ref_swept_rad": { + "value": 0.656406968832016, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_follower_observed_rad": { + "value": 0.6526401117444038, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_follower_expected_rad": { + "value": 0.656406968832016, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_motion_ratio": { + "value": 0.9942613999142715, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_gear_ratio_error": { + "value": 0.0057386000857284625, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_abs_formula_max_error_rad": { + "value": 0.005110643804073334, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_rest_residual_rad": { + "value": 0.0051108673214912415, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_max_error_rad": { + "value": 0.0035519152879714966, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_mean_error_rad": { + "value": 0.0018681663398941357, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_ref_swept_rad": { + "value": 0.656406968832016, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_follower_observed_rad": { + "value": 0.6528551951050758, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_follower_expected_rad": { + "value": 0.656406968832016, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_motion_ratio": { + "value": 0.9945890676126428, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_gear_ratio_error": { + "value": 0.005410932387357237, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_abs_formula_max_error_rad": { + "value": 0.004716150462627411, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_rest_residual_rad": { + "value": 0.0047162920236587524, + "unit": null + }, + "mim_pair_left_inner_finger_joint_max_error_rad": { + "value": 0.0013955757021903992, + "unit": null + }, + "mim_pair_left_inner_finger_joint_mean_error_rad": { + "value": 0.000776164544125398, + "unit": null + }, + "mim_pair_left_inner_finger_joint_ref_swept_rad": { + "value": 0.656406968832016, + "unit": null + }, + "mim_pair_left_inner_finger_joint_follower_observed_rad": { + "value": 0.6577964350581169, + "unit": null + }, + "mim_pair_left_inner_finger_joint_follower_expected_rad": { + "value": 0.656406968832016, + "unit": null + }, + "mim_pair_left_inner_finger_joint_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_left_inner_finger_joint_motion_ratio": { + "value": 1.0021167755555267, + "unit": null + }, + "mim_pair_left_inner_finger_joint_gear_ratio_error": { + "value": 0.0021167755555266954, + "unit": null + }, + "mim_pair_left_inner_finger_joint_abs_formula_max_error_rad": { + "value": 0.0036106929183006287, + "unit": null + }, + "mim_pair_left_inner_finger_joint_rest_residual_rad": { + "value": 0.003610484302043915, + "unit": null + }, + "mim_pairs_passed": { + "value": 5, + "unit": null + }, + "mim_pairs_failed": { + "value": 0, + "unit": null + }, + "motion_history_mim_reference_001": { + "value": { + "schema_version": 1, + "name": "mim_reference_001", + "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": "right_outer_knuckle_joint", + "gearing": -1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "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/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "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_001.json", + "csv": "motion_history/mim_reference_001.csv" + }, + "unit": null + }, + "motion_history_mim_follower_001": { + "value": { + "schema_version": 1, + "name": "mim_follower_001", + "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": "right_outer_knuckle_joint", + "gearing": -1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "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": "right_outer_knuckle_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/right_outer_knuckle_joint", + "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": "finger_joint", + "follower_joint_name": "right_inner_finger_joint", + "gearing": -1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "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/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "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_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": "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": "right_inner_finger_joint", + "gearing": -1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "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": "right_inner_finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/right_inner_finger_joint", + "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_002.json", + "csv": "motion_history/mim_follower_002.csv" + }, + "unit": null + }, + "motion_history_mim_reference_003": { + "value": { + "schema_version": 1, + "name": "mim_reference_003", + "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": "right_inner_finger_knuckle_joint", + "gearing": 1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "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/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "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_003.json", + "csv": "motion_history/mim_reference_003.csv" + }, + "unit": null + }, + "motion_history_mim_follower_003": { + "value": { + "schema_version": 1, + "name": "mim_follower_003", + "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": "right_inner_finger_knuckle_joint", + "gearing": 1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "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": "right_inner_finger_knuckle_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/right_inner_finger_knuckle_joint", + "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_003.json", + "csv": "motion_history/mim_follower_003.csv" + }, + "unit": null + }, + "motion_history_mim_reference_004": { + "value": { + "schema_version": 1, + "name": "mim_reference_004", + "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_knuckle_joint", + "gearing": 1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "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/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "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_004.json", + "csv": "motion_history/mim_reference_004.csv" + }, + "unit": null + }, + "motion_history_mim_follower_004": { + "value": { + "schema_version": 1, + "name": "mim_follower_004", + "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_knuckle_joint", + "gearing": 1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "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_knuckle_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/left_inner_finger_knuckle_joint", + "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 + }, + "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_joint", + "gearing": 1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "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/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "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_joint", + "gearing": 1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "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_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/left_inner_finger_joint", + "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_005.json", + "csv": "motion_history/mim_follower_005.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mimic_joint_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 78.219, + "message": "", + "metrics": { + "mim_mimic_pairs_detected": { + "value": 5, + "unit": null + }, + "mim_skipped_pairs": { + "value": 0, + "unit": null + }, + "mimic_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.8352151902854996, + "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": 2.906, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 145.3, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.938, + "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 + }, + "mim_pair_right_outer_knuckle_joint_max_error_rad": { + "value": 0.002122776393662207, + "unit": null + }, + "mim_pair_right_outer_knuckle_joint_mean_error_rad": { + "value": 0.00043863403940728557, + "unit": null + }, + "mim_pair_right_outer_knuckle_joint_ref_swept_rad": { + "value": 0.7406872795545496, + "unit": null + }, + "mim_pair_right_outer_knuckle_joint_follower_observed_rad": { + "value": 0.7400332997785881, + "unit": null + }, + "mim_pair_right_outer_knuckle_joint_follower_expected_rad": { + "value": 0.7406872795545496, + "unit": null + }, + "mim_pair_right_outer_knuckle_joint_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_right_outer_knuckle_joint_motion_ratio": { + "value": 0.9991170635786336, + "unit": null + }, + "mim_pair_right_outer_knuckle_joint_gear_ratio_error": { + "value": 0.0008829364213663871, + "unit": null + }, + "mim_pair_right_outer_knuckle_joint_abs_formula_max_error_rad": { + "value": 0.0021084435284137726, + "unit": null + }, + "mim_pair_right_outer_knuckle_joint_rest_residual_rad": { + "value": 1.4332865248434246e-05, + "unit": null + }, + "mim_pair_right_inner_finger_joint_max_error_rad": { + "value": 0.0010973066091537476, + "unit": null + }, + "mim_pair_right_inner_finger_joint_mean_error_rad": { + "value": 0.0005491950238744417, + "unit": null + }, + "mim_pair_right_inner_finger_joint_ref_swept_rad": { + "value": 0.6621464043855667, + "unit": null + }, + "mim_pair_right_inner_finger_joint_follower_observed_rad": { + "value": 0.6610620468854904, + "unit": null + }, + "mim_pair_right_inner_finger_joint_follower_expected_rad": { + "value": 0.6621464043855667, + "unit": null + }, + "mim_pair_right_inner_finger_joint_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_right_inner_finger_joint_motion_ratio": { + "value": 0.9983623599057636, + "unit": null + }, + "mim_pair_right_inner_finger_joint_gear_ratio_error": { + "value": 0.0016376400942363922, + "unit": null + }, + "mim_pair_right_inner_finger_joint_abs_formula_max_error_rad": { + "value": 0.0005559921264648438, + "unit": null + }, + "mim_pair_right_inner_finger_joint_rest_residual_rad": { + "value": 0.0005413144826889038, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_max_error_rad": { + "value": 0.0011029690504074097, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_mean_error_rad": { + "value": 0.0005515913168589274, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_ref_swept_rad": { + "value": 0.6621464043855667, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_follower_observed_rad": { + "value": 0.6610555350780487, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_follower_expected_rad": { + "value": 0.6621464043855667, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_motion_ratio": { + "value": 0.9983525255135528, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_gear_ratio_error": { + "value": 0.001647474486447198, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_abs_formula_max_error_rad": { + "value": 0.0005529299378395081, + "unit": null + }, + "mim_pair_right_inner_finger_knuckle_joint_rest_residual_rad": { + "value": 0.0005530565977096558, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_max_error_rad": { + "value": 0.0011028051376342773, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_mean_error_rad": { + "value": 0.00055152860780557, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_ref_swept_rad": { + "value": 0.6621464043855667, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_follower_observed_rad": { + "value": 0.6610557064414024, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_follower_expected_rad": { + "value": 0.6621464043855667, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_motion_ratio": { + "value": 0.9983527843133477, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_gear_ratio_error": { + "value": 0.0016472156866522703, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_abs_formula_max_error_rad": { + "value": 0.0005528852343559265, + "unit": null + }, + "mim_pair_left_inner_finger_knuckle_joint_rest_residual_rad": { + "value": 0.0005530118942260742, + "unit": null + }, + "mim_pair_left_inner_finger_joint_max_error_rad": { + "value": 0.0010965615510940552, + "unit": null + }, + "mim_pair_left_inner_finger_joint_mean_error_rad": { + "value": 0.000548872941484054, + "unit": null + }, + "mim_pair_left_inner_finger_joint_ref_swept_rad": { + "value": 0.6621464043855667, + "unit": null + }, + "mim_pair_left_inner_finger_joint_follower_observed_rad": { + "value": 0.661062978208065, + "unit": null + }, + "mim_pair_left_inner_finger_joint_follower_expected_rad": { + "value": 0.6621464043855667, + "unit": null + }, + "mim_pair_left_inner_finger_joint_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_left_inner_finger_joint_motion_ratio": { + "value": 0.9983637664263887, + "unit": null + }, + "mim_pair_left_inner_finger_joint_gear_ratio_error": { + "value": 0.001636233573611312, + "unit": null + }, + "mim_pair_left_inner_finger_joint_abs_formula_max_error_rad": { + "value": 0.0005555152893066406, + "unit": null + }, + "mim_pair_left_inner_finger_joint_rest_residual_rad": { + "value": 0.0005410462617874146, + "unit": null + }, + "mim_pairs_passed": { + "value": 5, + "unit": null + }, + "mim_pairs_failed": { + "value": 0, + "unit": null + }, + "motion_history_mim_reference_001": { + "value": { + "schema_version": 1, + "name": "mim_reference_001", + "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": "right_outer_knuckle_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/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6.659999847412109, + "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_001.json", + "csv": "motion_history/mim_reference_001.csv" + }, + "unit": null + }, + "motion_history_mim_follower_001": { + "value": { + "schema_version": 1, + "name": "mim_follower_001", + "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": "right_outer_knuckle_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": "right_outer_knuckle_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/right_outer_knuckle_joint", + "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": "finger_joint", + "follower_joint_name": "right_inner_finger_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/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6.659999847412109, + "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_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": "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": "right_inner_finger_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": "right_inner_finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/right_inner_finger_joint", + "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_002.json", + "csv": "motion_history/mim_follower_002.csv" + }, + "unit": null + }, + "motion_history_mim_reference_003": { + "value": { + "schema_version": 1, + "name": "mim_reference_003", + "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": "right_inner_finger_knuckle_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/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6.659999847412109, + "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_003.json", + "csv": "motion_history/mim_reference_003.csv" + }, + "unit": null + }, + "motion_history_mim_follower_003": { + "value": { + "schema_version": 1, + "name": "mim_follower_003", + "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": "right_inner_finger_knuckle_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": "right_inner_finger_knuckle_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/right_inner_finger_knuckle_joint", + "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_003.json", + "csv": "motion_history/mim_follower_003.csv" + }, + "unit": null + }, + "motion_history_mim_reference_004": { + "value": { + "schema_version": 1, + "name": "mim_reference_004", + "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_knuckle_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/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6.659999847412109, + "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_004.json", + "csv": "motion_history/mim_reference_004.csv" + }, + "unit": null + }, + "motion_history_mim_follower_004": { + "value": { + "schema_version": 1, + "name": "mim_follower_004", + "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_knuckle_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_knuckle_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/left_inner_finger_knuckle_joint", + "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 + }, + "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_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/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6.659999847412109, + "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_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_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/left_inner_finger_joint", + "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_005.json", + "csv": "motion_history/mim_follower_005.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "multi_joint_coordination", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 2.047, + "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": 5.625, + "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": 5.938, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 1.14, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 142.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.375, + "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": 0.000439, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.001073, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_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": "normals_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 5.938, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 1.14, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 142.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.375, + "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": 0.000439, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.001073, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_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": "openpbr_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 31.11, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.017, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 803.4, + "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": 16, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 16, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 16, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 16, + "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": 33, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 51497, + "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": 31.11, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.017, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 803.4, + "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": 16, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 16, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 16, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 16, + "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": 33, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 51497, + "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": 122.969, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 26.172, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1308.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.891, + "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": 0.9, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 2.2, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 1, + "unit": null + }, + "pivot_ground_penetration": { + "value": 1, + "unit": null + }, + "pivot_orbital_motion": { + "value": 0, + "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": 122.969, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 26.172, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1308.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.891, + "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": 0.9, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 2.2, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 1, + "unit": null + }, + "pivot_ground_penetration": { + "value": 1, + "unit": null + }, + "pivot_orbital_motion": { + "value": 0, + "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": 18.922, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.343, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1671.5, + "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": 0.223681, + "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": 18.922, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.343, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1671.5, + "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": 0.223681, + "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": 32.469, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 5.125, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1025.0, + "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": 16, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 16, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 16, + "unit": null + }, + "universal_surface_materials_total": { + "value": 16, + "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": 33, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 51305, + "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": 32.469, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 5.125, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1025.0, + "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": 16, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 16, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 16, + "unit": null + }, + "universal_surface_materials_total": { + "value": 16, + "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": 33, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 51305, + "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": 17.234, + "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": 1.8353769673976723, + "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": 5.983, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 10, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 598.3, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.921, + "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": 0.017473715642326092, + "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/Joints/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": 26.765, + "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": 1.8352151902854996, + "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": 1.518, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 10, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 151.8, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.765, + "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": 0.08648936211071993, + "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/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6.659999847412109, + "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": 171, + "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": 6.093, + "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": 1.8353769673976723, + "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": 0.906, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 906.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.407, + "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/Joints/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": 10, + "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": 7.0, + "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": 1.8352151902854996, + "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": 0.5, + "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": 0.484, + "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/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6.659999847412109, + "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": 47, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + } + ] +} diff --git a/robotiq_2f_85/.metadata/robotiq_2f_85_validation.json b/robotiq_2f_85/.metadata/robotiq_2f_85_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..352494693943be4464d68e7ed173444721802b16 --- /dev/null +++ b/robotiq_2f_85/.metadata/robotiq_2f_85_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/2F_85.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_85/.thumbs/256x256/2F_85.usda.png b/robotiq_2f_85/.thumbs/256x256/2F_85.usda.png new file mode 100644 index 0000000000000000000000000000000000000000..b8881d63a258298ba9ddd53c2bec4bb43966e546 --- /dev/null +++ b/robotiq_2f_85/.thumbs/256x256/2F_85.usda.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:045162c47b61a0ce1b97f63aa58653d49a3a9e6d3fe61e5c3c1e21cb05e075b3 +size 47902 diff --git a/robotiq_2f_85/2F_85.usda b/robotiq_2f_85/2F_85.usda new file mode 100644 index 0000000000000000000000000000000000000000..682f181647103578fb556d54315a681cb23c5072 --- /dev/null +++ b/robotiq_2f_85/2F_85.usda @@ -0,0 +1,1619 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_85" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_85" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_85" + string variantSetName = "PhysX" + } + } + } + string[] revision_of = [ + "simready.hf.Robotiq-Official.simready-assets.Robotiq_2F_85.2026.10.10_00", + "simready.hf.Robotiq-Official.simready-assets.Robotiq_2F_85.2026.10.22_00", + "simready.hf.Robotiq-Official.simready-assets.Robotiq_2F_85.2026.10.30_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" + } + } + } + } + } + float3 asset_extents = (0.075, 0.15448326, 0.15177661) + string asset_license = "CC-BY-4.0" + string asset_name = "Robotiq_2F_85" + string asset_type = "robot" + string author = "Robotiq" + string category = "robot end effector" + double mass = 0.2617397094145417 + string qcode = "Q1340324" + int rigid_body_count = 9 + string source_file = "Robotiq/2F-85/Robotiq_2F_85.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "Robotiq_2F_85" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Xform "Robotiq_2F_85" ( + 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"] +) +{ + string isaac:namespace ( + displayName = "Namespace" + doc = "Namespace of the prim in Isaac Sim" + ) + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "base_link" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "left_outer_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "left_outer_finger" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "left_inner_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "right_outer_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "right_outer_finger" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "right_inner_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + 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_85/com.nvidia.simready.packaging.json b/robotiq_2f_85/com.nvidia.simready.packaging.json new file mode 100644 index 0000000000000000000000000000000000000000..70204b1cde8c0ed86a760b0acdd81692e31259f5 --- /dev/null +++ b/robotiq_2f_85/com.nvidia.simready.packaging.json @@ -0,0 +1,49 @@ +{ + "format_version": "1.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.robotiq_2f_85.1.0.0", + "license": "CC-BY-4.0", + "metadata": [ + { + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "hash": { + "sha256": "e411d63c3389d38f5dac482f9131978b0feb9ea7021e1e472a194437bd8bc053" + } + }, + { + "name": "com.nvidia.simready.packaging.bom.json", + "hash": { + "sha256": "66fc4f93d05ca057a3f10c65db83a462c7a860a382564636c4909f99d8421a44" + } + }, + { + "name": "com.nvidia.simready.root_usds.json", + "hash": { + "sha256": "7d6135a665d2135f3a33193ad21a1a9853b8edb6ae9e4947b75825fcd7b26073" + } + }, + { + "name": "license.txt", + "hash": { + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + } + }, + { + "name": "robotiq_2f_85_benchmark.json", + "hash": { + "sha256": "a25567b33e5e8e1771c415b735dcadb763815d61218965820a8830189a674d25" + } + }, + { + "name": "robotiq_2f_85_validation.json", + "hash": { + "sha256": "a49babdccbe1a711cc80f1048f56e8bbf960ad5e04435489dfb61b925a3dd8e2" + } + } + ], + "content_hash": { + "sha256": "b5458a5308da874fc30caf330a4972e9522191a818fb859d3a23622bc3797220" + }, + "package_hash": { + "sha256": "86607f080f0760f98a6a8fecf25ba00cdde44686115698d3e489ec74cfec4bdc" + } +} diff --git a/robotiq_2f_85/materials/mdl/OmniPBR.mdl b/robotiq_2f_85/materials/mdl/OmniPBR.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bcd0685466a09006ac9e009969d32de43d6d04d9 --- /dev/null +++ b/robotiq_2f_85/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_85/materials/mdl/OmniPBRBase.mdl b/robotiq_2f_85/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/robotiq_2f_85/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_85/materials/mdl/OmniPBR_ClearCoat.mdl b/robotiq_2f_85/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/robotiq_2f_85/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_85/materials/mdl/aux_definitions.mdl b/robotiq_2f_85/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/robotiq_2f_85/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/robotiq_2f_85/materials/mdl/core_definitions.mdl b/robotiq_2f_85/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/robotiq_2f_85/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/robotiq_2f_85/materials/mdl/license.txt b/robotiq_2f_85/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/robotiq_2f_85/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/robotiq_2f_85/materials/mdl/support_definitions.mdl b/robotiq_2f_85/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/robotiq_2f_85/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/robotiq_2f_85/payloads/Physics/None.usda b/robotiq_2f_85/payloads/Physics/None.usda new file mode 100644 index 0000000000000000000000000000000000000000..1f1b920da280a8aa1b8a183b3b75ebd0aa614b67 --- /dev/null +++ b/robotiq_2f_85/payloads/Physics/None.usda @@ -0,0 +1,27 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_85" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def "Robotiq_2F_85" ( + customData = { + string[] variantPrimPaths = ["Robotiq_2F_85/Joints"] + } +) +{ + def "Robotiq_2F_85" + { + def "Joints" ( + active = false + ) + { + } + } +} + diff --git a/robotiq_2f_85/payloads/Physics/Physics.usda b/robotiq_2f_85/payloads/Physics/Physics.usda new file mode 100644 index 0000000000000000000000000000000000000000..36bcb3538e9862bbd599b1ab90bd595a23d99a8f --- /dev/null +++ b/robotiq_2f_85/payloads/Physics/Physics.usda @@ -0,0 +1,455 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_85" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "Robotiq_2F_85" ( + prepend apiSchemas = ["PhysicsArticulationRootAPI"] +) +{ + over "base_link" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.043512285 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } + ) + + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_basestep_01" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "left_outer_knuckle" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.0033728504 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } + ) + + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "left_outer_finger" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.000005531254, -0.06595047, 0.06895309) + float3 physics:diagonalInertia = (0.0000132201985, 0.0000042931024, 0.000010880907) + float physics:mass = 0.039179202 + quatf physics:principalAxes = (0.76604444, -0.64278764, 0, 0) + + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "left_inner_finger" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (1.2590098e-8, -0.05424156, 0.11390199) + float3 physics:diagonalInertia = (0.000011577923, 0.00000896224, 0.0000039778333) + float physics:mass = 0.039254718 + quatf physics:principalAxes = (0.9914449, -0.13052619, 0, 0) + + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + instanceable = false + ) + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + instanceable = false + ) + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "left_inner_knuckle" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-2.005321e-10, -0.03222066, 0.083420366) + float3 physics:diagonalInertia = (0.000011838778, 0.0000044877793, 0.00000800488) + float physics:mass = 0.027306942 + quatf physics:principalAxes = (0.9063078, -0.42261827, 0, 0) + + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "right_outer_knuckle" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.0033728504 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } + ) + + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "right_outer_finger" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.000005531254, 0.06595047, 0.06895309) + float3 physics:diagonalInertia = (0.0000132201985, 0.0000042931024, 0.000010880907) + float physics:mass = 0.039179202 + quatf physics:principalAxes = (0.76604444, 0.64278764, 0, 0) + + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "right_inner_finger" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-1.2590098e-8, 0.05424156, 0.11390199) + float3 physics:diagonalInertia = (0.000011577923, 0.00000896224, 0.0000039778333) + float physics:mass = 0.039254718 + quatf physics:principalAxes = (0.9914449, 0.13052619, 0, 0) + + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + instanceable = false + ) + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + instanceable = false + ) + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "right_inner_knuckle" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (2.005321e-10, 0.03222066, 0.083420366) + float3 physics:diagonalInertia = (0.000011838778, 0.0000044877793, 0.00000800488) + float physics:mass = 0.027306942 + quatf physics:principalAxes = (0.9063078, 0.42261827, 0, 0) + + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "Joints" + { + def PhysicsFixedJoint "root_joint" + { + custom rel physics:body1 = + } + + def PhysicsRevoluteJoint "finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 3 + float drive:angular:physics:targetPosition = 0 + float drive:angular:physics:targetVelocity = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0, -0.0306, 0.05466) + point3f physics:localPos1 = (0, -0.0306, 0.05466) + quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5) + quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5) + float physics:lowerLimit = 0 + float physics:upperLimit = 47 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 0 + float drive:angular:physics:stiffness = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0, 0.0306, 0.05466) + point3f physics:localPos1 = (0, 0.0306, 0.05466) + quatf physics:localRot0 = (0.5, -0.5, 0.5, -0.5) + quatf physics:localRot1 = (0.5, -0.5, 0.5, -0.5) + float physics:lowerLimit = 0 + float physics:upperLimit = 47 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsFixedJoint "right_outer_finger_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0, 0.06213, 0.0509) + point3f physics:localPos1 = (0, 0.06213, 0.0509) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + } + + def PhysicsRevoluteJoint "right_inner_finger_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 0 + float drive:angular:physics:stiffness = 0 + float drive:angular:physics:targetPosition = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0, 0.06776, 0.09809) + point3f physics:localPos1 = (0, 0.06776, 0.09809) + quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5) + quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float drive:angular:physics:targetPosition = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0, 0.04986, 0.1046) + point3f physics:localPos1 = (0, 0.04986, 0.1046) + quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5) + quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsFixedJoint "left_outer_finger_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0, -0.06213, 0.0509) + point3f physics:localPos1 = (0, -0.06213, 0.0509) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + } + + def PhysicsRevoluteJoint "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0, -0.04986, 0.1046) + point3f physics:localPos1 = (0, -0.04986, 0.1046) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "left_inner_finger_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 0 + float drive:angular:physics:stiffness = 0 + float drive:angular:physics:targetPosition = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0, -0.06776, 0.09809) + point3f physics:localPos1 = (0, -0.06776, 0.09809) + quatf physics:localRot0 = (0.5, -0.5, -0.5, 0.5) + quatf physics:localRot1 = (0.5, -0.5, -0.5, 0.5) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysicsMaterialAPI"] + ) + { + float physics:dynamicFriction = 4 + float physics:staticFriction = 4 + } +} + diff --git a/robotiq_2f_85/payloads/Physics/Physx_Loop.usda b/robotiq_2f_85/payloads/Physics/Physx_Loop.usda new file mode 100644 index 0000000000000000000000000000000000000000..415bb3a4438000ec53210fbf0b6d7b576137a635 --- /dev/null +++ b/robotiq_2f_85/payloads/Physics/Physx_Loop.usda @@ -0,0 +1,246 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_85" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + subLayers = [ + @./Physics.usda@ + ] + upAxis = "Z" +) + +over "Robotiq_2F_85" ( + prepend apiSchemas = ["PhysxArticulationAPI"] +) +{ + bool physxArticulation:enabledSelfCollisions = 0 + + over "Joints" + { + def PhysicsRevoluteJoint "finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.0002 + float drive:angular:physics:maxForce = 16.5 + float drive:angular:physics:stiffness = 0.17 + float drive:angular:physics:targetPosition = 0 + float drive:angular:physics:targetVelocity = 0 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + point3f physics:localPos0 = (0, -0.0306, 0.05466) + point3f physics:localPos1 = (0, -0.0306, 0.05466) + quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5) + quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5) + float physics:lowerLimit = 0 + float physics:upperLimit = 75 + float physxJoint:maxJointVelocity = 130 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 5000 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 0 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + point3f physics:localPos0 = (0, 0.0306, 0.05466) + point3f physics:localPos1 = (0, 0.0306, 0.05466) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float physics:lowerLimit = 0 + float physics:upperLimit = 75 + float physxJoint:maxJointVelocity = 130 + float physxMimicJoint:rotZ:dampingRatio = 0.01 + float physxMimicJoint:rotZ:gearing = -1 + float physxMimicJoint:rotZ:naturalFrequency = 5000 + custom rel physxMimicJoint:rotZ:referenceJoint + prepend rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_outer_finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + point3f physics:localPos0 = (0, 0.06213, 0.0509) + point3f physics:localPos1 = (0, 0.06213, 0.0509) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float physics:lowerLimit = 0 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_inner_finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.00001 + float drive:angular:physics:maxForce = 0.5 + float drive:angular:physics:stiffness = 0.0002 + float drive:angular:physics:targetPosition = 45 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + point3f physics:localPos0 = (0, 0.06776, 0.09809) + point3f physics:localPos1 = (0, 0.06776, 0.09809) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float physics:lowerLimit = -inf + float physics:upperLimit = inf + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_inner_knuckle_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + bool physics:excludeFromArticulation = 1 + point3f physics:localPos0 = (0, 0.0127, 0.06118) + point3f physics:localPos1 = (0, 0.0127, 0.06118) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float physics:lowerLimit = -inf + float physics:upperLimit = inf + } + + def PhysicsRevoluteJoint "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + point3f physics:localPos0 = (0, 0.04986, 0.1046) + point3f physics:localPos1 = (0, 0.04986, 0.1046) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "left_outer_finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + point3f physics:localPos0 = (0, -0.06213, 0.0509) + point3f physics:localPos1 = (0, -0.06213, 0.0509) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float physics:lowerLimit = 0 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + point3f physics:localPos0 = (0, -0.04986, 0.1046) + point3f physics:localPos1 = (0, -0.04986, 0.1046) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float physics:lowerLimit = -inf + float physics:upperLimit = inf + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "left_inner_finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.00001 + float drive:angular:physics:maxForce = 0.5 + float drive:angular:physics:stiffness = 0.0002 + float drive:angular:physics:targetPosition = 45 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + point3f physics:localPos0 = (0, -0.06776, 0.09809) + point3f physics:localPos1 = (0, -0.06776, 0.09809) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float physics:lowerLimit = -inf + float physics:upperLimit = inf + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "left_inner_knuckle_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + bool physics:excludeFromArticulation = 1 + point3f physics:localPos0 = (0, -0.0127, 0.06118) + point3f physics:localPos1 = (0, -0.0127, 0.06118) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float physics:lowerLimit = -inf + float physics:upperLimit = inf + } + } +} + diff --git a/robotiq_2f_85/payloads/Physics/Physx_Mimic.usda b/robotiq_2f_85/payloads/Physics/Physx_Mimic.usda new file mode 100644 index 0000000000000000000000000000000000000000..c656da3976a2b3d7c9171dcd7082e555981971c0 --- /dev/null +++ b/robotiq_2f_85/payloads/Physics/Physx_Mimic.usda @@ -0,0 +1,89 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_85" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + subLayers = [ + @./Physics.usda@ + ] + upAxis = "Z" +) + +over "Robotiq_2F_85" ( + prepend apiSchemas = ["PhysxArticulationAPI"] +) +{ + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 64 + + over "Joints" + { + over "finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:armature = 0.0001 + float physxJoint:maxJointVelocity = 146.46 + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:armature = 0.0001 + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotZ:dampingRatio = 0 + float physxMimicJoint:rotZ:gearing = -1 + float physxMimicJoint:rotZ:naturalFrequency = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 0 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 0 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 0 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 0 + rel physxMimicJoint:rotX:referenceJoint = + } + } +} + diff --git a/robotiq_2f_85/payloads/base.usda b/robotiq_2f_85/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..abadb5fc6ec7b376191850d4aacea6a510dd1800 --- /dev/null +++ b/robotiq_2f_85/payloads/base.usda @@ -0,0 +1,330 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_85" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + subLayers = [ + @./robot.usda@ + ] + upAxis = "Z" +) + +def Xform "Robotiq_2F_85" ( + customData = { + string[] variantPrimPaths = ["."] + } + kind = "assembly" +) +{ + uniform token[] xformOpOrder = [] + + def Xform "base_link" ( + kind = "group" + ) + { + def Xform "visuals" ( + apiSchemas = None + instanceable = true + kind = "subcomponent" + references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "gripper_01" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.085 + custom float gripper_maxPayload = 0.5 + string isaac:Description = "Parallel-jaw grasp center" + token simready:attactment:socketType = "Gripper" + double3 xformOp:translate = (0, 0, 0.13) + uniform token[] xformOpOrder = ["xformOp:translate"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0, 0.05)] + point3f[] points = [(0, 0, 0), (0, 0, 0.05)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(-0.015, 0, 0), (0.015, 0, 0)] + point3f[] points = [(-0.015, 0, 0), (0.015, 0, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + } + + def Xform "left_outer_knuckle" ( + kind = "group" + ) + { + quatd 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 Xform "visuals" ( + instanceable = true + kind = "subcomponent" + references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_outer_finger" ( + kind = "group" + ) + { + quatd 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 Xform "visuals" ( + instanceable = true + kind = "subcomponent" + references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_inner_finger" ( + kind = "group" + ) + { + quatd 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 Xform "visuals" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + over Xform "Defeatured_2F_85_PAD_OPEN_finger4step" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" ( + prepend apiSchemas = ["MaterialBindingAPI"] + ) + { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + over Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "left_inner_knuckle" ( + kind = "group" + ) + { + quatd 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 Xform "visuals" ( + instanceable = true + kind = "subcomponent" + references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_outer_knuckle" ( + kind = "group" + ) + { + quatd 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 Xform "visuals" ( + instanceable = true + kind = "subcomponent" + references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_outer_finger" ( + kind = "group" + ) + { + quatd 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 Xform "visuals" ( + instanceable = true + kind = "subcomponent" + references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_inner_finger" ( + kind = "group" + ) + { + quatd 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 Xform "visuals" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + over Xform "Defeatured_2F_85_PAD_OPEN_finger4step" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" ( + prepend apiSchemas = ["MaterialBindingAPI"] + ) + { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + over Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "right_inner_knuckle" ( + kind = "group" + ) + { + quatd 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 Xform "visuals" ( + instanceable = true + kind = "subcomponent" + references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Scope "Joints" + { + } + + def Material "fingertip_material" ( + active = true + ) + { + } +} + +def Scope "VisualMaterials" +{ +} + diff --git a/robotiq_2f_85/payloads/geometries.usd b/robotiq_2f_85/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..2bc7b14605ceef304e3bbe489478fd48b030ab36 --- /dev/null +++ b/robotiq_2f_85/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:219d4c54f1b914cce9a8d5cb2ded86ec0c5faae274c1f007cacd0458d7cf7432 +size 3990584 diff --git a/robotiq_2f_85/payloads/instances.usda b/robotiq_2f_85/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..a0c512120a324db4793a207673ba8b6cbbfa3120 --- /dev/null +++ b/robotiq_2f_85/payloads/instances.usda @@ -0,0 +1,1388 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Xform "Robotiq_2F_85" ( + apiSchemas = ["PhysicsArticulationRootAPI"] +) +{ + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "base_link" + { + def Xform "visuals" + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_basestep_01" + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_basestep" ( + apiSchemas = None + prepend references = @./geometries.usd@ + ) + { + double[] inertiaMatrix = [0.0004746842222151654, 1.1593848512898524e-9, -2.353766274892451e-8, 1.1593848512898524e-9, 0.00036290683417457444, -3.0421779496695915e-7, -2.353766274892451e-8, -3.0421779496695915e-7, 0.0005407481985062766] + + over "Defeatured_2F_85_PAD_OPEN_basestep" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0.0004746842222151654, 1.1593848512898524e-9, -2.353766274892451e-8, 1.1593848512898524e-9, 0.00036290683417457444, -3.0421779496695915e-7, -2.353766274892451e-8, -3.0421779496695915e-7, 0.0005407481985062766] + bool physics:collisionEnabled = 1 + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Stack" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Chateau_Green" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Gravel" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Silver_Rust" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Gallery" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Blue_Ribbon" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Dawn" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "White" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Mystic" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + 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 Material "Stack" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.5294118, 0.54901963, 0.54901963) + 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 Material "Chateau_Green" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.28627452, 0.6627451, 0.32941177) + 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 Material "Gravel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.29803923, 0.29803923, 0.29803923) + 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 Material "Silver_Rust" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7764706, 0.75686276, 0.7372549) + 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 Material "Gallery" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.9372549, 0.9372549, 0.9372549) + 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 Material "Blue_Ribbon" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.13333334, 0.33333334, 1) + 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 Material "Dawn" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.64705884, 0.61960787, 0.5882353) + 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 Material "White" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + 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 Material "Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49411765, 0.49411765, 0.49411765) + 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 Material "Mystic" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8980392, 0.91764706, 0.92941177) + 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 "left_outer_knuckle" + { + def Xform "visuals" + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + apiSchemas = ["MaterialBindingAPI"] + prepend references = @./geometries.usd@ + ) + { + double[] inertiaMatrix = [3.3172591921657694e-7, -1.4530204096372698e-7, 0, -1.4530204096372698e-7, 0.000002045423971425186, 0, 0, 0, 0.0000021349242437293255] + + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [3.3172591921657694e-7, -1.4530204096372698e-7, 0, -1.4530204096372698e-7, 0.000002045423971425186, 0, 0, 0, 0.0000021349242437293255] + custom rel material:binding + prepend rel material:binding = + bool physics:collisionEnabled = 1 + } + + def Scope "VisualMaterials" + { + def Material "Pumice" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.78431374, 0.78431374, 0.78431374) + 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 "right_outer_knuckle" ( + apiSchemas = ["PhysicsRigidBodyAPI"] + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + apiSchemas = ["MaterialBindingAPI"] + prepend references = @./geometries.usd@ + ) + { + double[] inertiaMatrix = [3.3172591921657694e-7, -1.4530204096372698e-7, 0, -1.4530204096372698e-7, 0.000002045423971425186, 0, 0, 0, 0.0000021349242437293255] + + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [3.3172591921657694e-7, -1.4530204096372698e-7, 0, -1.4530204096372698e-7, 0.000002045423971425186, 0, 0, 0, 0.0000021349242437293255] + custom rel material:binding + prepend rel material:binding = + bool physics:collisionEnabled = 1 + } + + def Scope "VisualMaterials" + { + def Material "Pumice" ( + instanceable = true + prepend references = @./base.usda@ + ) + { + } + } + } + } + } + } + + def Xform "left_outer_finger" + { + def Xform "visuals" + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger2step" ( + apiSchemas = None + prepend references = @./geometries.usd@ + ) + { + double[] inertiaMatrix = [0.000012638332145022882, 0.000002203588960140742, -8.504687024042132e-10, 0.000002203588960140742, 0.000004874970457524958, 4.026630666546916e-9, -8.504687024042132e-10, 4.026630666546916e-9, 0.000010880904291232196] + + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0.000012638332145022882, 0.000002203588960140742, -8.504687024042132e-10, 0.000002203588960140742, 0.000004874970457524958, 4.026630666546916e-9, -8.504687024042132e-10, 4.026630666546916e-9, 0.000010880904291232196] + bool physics:collisionEnabled = 1 + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Periwinkle_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + 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 Material "Periwinkle_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334) + 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 "right_outer_finger" ( + apiSchemas = ["PhysicsRigidBodyAPI"] + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger2step" ( + apiSchemas = None + prepend references = @./geometries.usd@ + ) + { + double[] inertiaMatrix = [0.000012638332145022882, 0.000002203588960140742, -8.504687024042132e-10, 0.000002203588960140742, 0.000004874970457524958, 4.026630666546916e-9, -8.504687024042132e-10, 4.026630666546916e-9, 0.000010880904291232196] + + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0.000012638332145022882, 0.000002203588960140742, -8.504687024042132e-10, 0.000002203588960140742, 0.000004874970457524958, 4.026630666546916e-9, -8.504687024042132e-10, 4.026630666546916e-9, 0.000010880904291232196] + bool physics:collisionEnabled = 1 + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Periwinkle_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./base.usda@ + ) + { + } + + def Material "Periwinkle_Gray" ( + instanceable = true + prepend references = @./base.usda@ + ) + { + } + } + } + } + } + } + + def Xform "left_inner_finger" + { + def Xform "visuals" + { + def Xform "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + def Xform "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend references = @./geometries.usd@ + ) + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0.0000011378434246221952, -4.158879618135558e-7, 2.8275499473177313e-15, -4.158879618135558e-7, 0.0000017491772225024202, 8.53900277449441e-15, 2.8275499473177313e-15, 8.53900277449441e-15, 0.0000017669586651117354] + bool physics:collisionEnabled = 1 + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Stack" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Periwinkle_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Celeste" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Rangoon_Green" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + 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 Material "Stack" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.5294118, 0.54901963, 0.54901963) + 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 Material "Periwinkle_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334) + 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 Material "Celeste" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8, 0.80784315, 0.8) + 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 Material "Rangoon_Green" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.11764706, 0.11764706, 0.11764706) + 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 "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend references = @./geometries.usd@ + ) + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0.0000031000731934045262, -4.80168818288321e-7, 8.335547749061047e-13, -4.80168818288321e-7, 0.0000011082570492185917, 6.6705310614956804e-12, 8.335547749061047e-13, 6.6705310614956804e-12, 0.000002838699742101064] + bool physics:collisionEnabled = 1 + + over "Nobel" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Rangoon_Green" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 Material "Rangoon_Green" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.11764706, 0.11764706, 0.11764706) + 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 "right_inner_finger" + { + def Xform "visuals" + { + def Xform "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + def Xform "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend references = @./geometries.usd@ + ) + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0.0000011378434246221952, -4.158879618135558e-7, 2.8275499473177313e-15, -4.158879618135558e-7, 0.0000017491772225024202, 8.53900277449441e-15, 2.8275499473177313e-15, 8.53900277449441e-15, 0.0000017669586651117354] + bool physics:collisionEnabled = 1 + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Stack" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Periwinkle_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Celeste" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Rangoon_Green" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + 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 Material "Stack" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.5294118, 0.54901963, 0.54901963) + 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 Material "Periwinkle_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334) + 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 Material "Celeste" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8, 0.80784315, 0.8) + 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 Material "Rangoon_Green" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.11764706, 0.11764706, 0.11764706) + 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 "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend references = @./geometries.usd@ + ) + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0.0000031000731934045262, -4.80168818288321e-7, 8.335547749061047e-13, -4.80168818288321e-7, 0.0000011082570492185917, 6.6705310614956804e-12, 8.335547749061047e-13, 6.6705310614956804e-12, 0.000002838699742101064] + bool physics:collisionEnabled = 1 + + over "Nobel" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Rangoon_Green" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 Material "Rangoon_Green" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.11764706, 0.11764706, 0.11764706) + 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 "left_inner_knuckle" + { + def Xform "visuals" + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger3step" ( + apiSchemas = ["MaterialBindingAPI"] + prepend references = @./geometries.usd@ + ) + { + double[] inertiaMatrix = [0.000008622018967333509, 0.000003646759055662086, 4.5608098039667545e-14, 0.000003646759055662086, 0.000007704538039225997, -1.4189806527411122e-14, 4.5608098039667545e-14, -1.4189806527411122e-14, 0.00000800488002567704] + + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [0.000008622018967333509, 0.000003646759055662086, 4.5608098039667545e-14, 0.000003646759055662086, 0.000007704538039225997, -1.4189806527411122e-14, 4.5608098039667545e-14, -1.4189806527411122e-14, 0.00000800488002567704] + custom rel material:binding + prepend rel material:binding = + bool physics:collisionEnabled = 1 + } + + def Scope "VisualMaterials" + { + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + 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 "right_inner_knuckle" ( + apiSchemas = ["PhysicsRigidBodyAPI"] + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger3step" ( + apiSchemas = ["MaterialBindingAPI"] + prepend references = @./geometries.usd@ + ) + { + double[] inertiaMatrix = [0.000008622018967333509, 0.000003646759055662086, 4.5608098039667545e-14, 0.000003646759055662086, 0.000007704538039225997, -1.4189806527411122e-14, 4.5608098039667545e-14, -1.4189806527411122e-14, 0.00000800488002567704] + + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [0.000008622018967333509, 0.000003646759055662086, 4.5608098039667545e-14, 0.000003646759055662086, 0.000007704538039225997, -1.4189806527411122e-14, 4.5608098039667545e-14, -1.4189806527411122e-14, 0.00000800488002567704] + custom rel material:binding + prepend rel material:binding = + bool physics:collisionEnabled = 1 + } + + def Scope "VisualMaterials" + { + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./base.usda@ + ) + { + } + } + } + } + } + } +} + diff --git a/robotiq_2f_85/payloads/materials.usda b/robotiq_2f_85/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..55a6257f4ef4cabd532e99baab4b462bc3ada3ce --- /dev/null +++ b/robotiq_2f_85/payloads/materials.usda @@ -0,0 +1,1117 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "Cod_Gray" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + 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" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + 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 = (0.039215688, 0.039215688, 0.039215688) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + 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 + } + } + + def Material "Stack" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + 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" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + 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 = (0.5294118, 0.54901963, 0.54901963) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.5294118, 0.54901963, 0.54901963) + 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 + } + } + + def Material "Chateau_Green" + { + custom token[] omni:simready:nonvisual:attributes = ["emissive"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + 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" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + 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 = (0.28627452, 0.6627451, 0.32941177) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.28627452, 0.6627451, 0.32941177) + 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 + } + } + + def Material "Gravel" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + 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" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + 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 = (0.29803923, 0.29803923, 0.29803923) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.29803923, 0.29803923, 0.29803923) + 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 + } + } + + def Material "Silver_Rust" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "steel" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + 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" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + 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 = (0.7764706, 0.75686276, 0.7372549) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7764706, 0.75686276, 0.7372549) + 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 + } + } + + def Material "Gallery" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + 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" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + 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 = (0.9372549, 0.9372549, 0.9372549) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.9372549, 0.9372549, 0.9372549) + 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 + } + } + + def Material "Blue_Ribbon" + { + custom token[] omni:simready:nonvisual:attributes = ["emissive"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + 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" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + 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 = (0.13333334, 0.33333334, 1) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.13333334, 0.33333334, 1) + 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 + } + } + + def Material "Dawn" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + 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" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + 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 = (0.64705884, 0.61960787, 0.5882353) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.64705884, 0.61960787, 0.5882353) + 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 + } + } + + def Material "White" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + 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" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + 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 = (1, 1, 1) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + 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 + } + } + + def Material "Gray" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "rubber" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + 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" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + 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 = (0.49411765, 0.49411765, 0.49411765) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49411765, 0.49411765, 0.49411765) + 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 + } + } + + def Material "Mystic" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + 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" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + 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 = (0.8980392, 0.91764706, 0.92941177) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8980392, 0.91764706, 0.92941177) + 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 + } + } + + def Material "Pumice" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "rubber" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + 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" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + 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 = (0.78431374, 0.78431374, 0.78431374) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.78431374, 0.78431374, 0.78431374) + 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 + } + } + + def Material "Periwinkle_Gray" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "rubber" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + 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" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + 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 = (0.7921569, 0.81960785, 0.93333334) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334) + 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 + } + } + + def Material "Celeste" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "rubber" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + 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" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + 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 = (0.8, 0.80784315, 0.8) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8, 0.80784315, 0.8) + 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 + } + } + + def Material "Rangoon_Green" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "rubber" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + 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" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + 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 = (0.11764706, 0.11764706, 0.11764706) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.11764706, 0.11764706, 0.11764706) + 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 + } + } + + def Material "Nobel" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "rubber" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + 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" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + 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 = (0.7019608, 0.7019608, 0.7019608) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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/robotiq_2f_85/payloads/robot.usda b/robotiq_2f_85/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..5b3d590614d696afff959643761ef6f6aab600e3 --- /dev/null +++ b/robotiq_2f_85/payloads/robot.usda @@ -0,0 +1,141 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_85" +) + +over "Robotiq_2F_85" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string isaac:namespace ( + displayName = "Namespace" + doc = "Namespace of the prim in Isaac Sim" + ) + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType = "End Effector" + + over "base_link" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + } + + over "left_outer_knuckle" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "left_outer_finger" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "left_inner_finger" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "left_inner_knuckle" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "right_outer_knuckle" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "right_outer_finger" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "right_inner_finger" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "right_inner_knuckle" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "Joints" + { + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "finger_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } +} + diff --git a/robotiq_2f_85/runnables/physics/mujoco.usda b/robotiq_2f_85/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..d8df34088498d1069d387805eb65228103656a5b --- /dev/null +++ b/robotiq_2f_85/runnables/physics/mujoco.usda @@ -0,0 +1,288 @@ +#usda 1.0 +( + defaultPrim = "Robotiq_2F_85" +) + +def "Robotiq_2F_85" +{ + over "base_link" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_basestep_01" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "gripper_01" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "left_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "Joints" + { + over "finger_joint" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + def "MuJoCoActuators" + { + def MjcActuator "act_Robotiq_2F_85_Joints_finger_joint" ( + 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, -171.88733853924697, -0.011459155613133837] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 26 + double mjc:forceRange:min = -26 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } +} + diff --git a/robotiq_2f_85/runnables/physics/newton.usda b/robotiq_2f_85/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..511c5cf904bf2fe85e0d8c8b1646f5e2c0cf73e5 --- /dev/null +++ b/robotiq_2f_85/runnables/physics/newton.usda @@ -0,0 +1,299 @@ +#usda 1.0 +( + defaultPrim = "Robotiq_2F_85" +) + +over "Robotiq_2F_85" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] +) +{ + bool newton:selfCollisionEnabled = 0 + + over "base_link" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_basestep_01" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "Joints" + { + over "finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 6.66 + float newton:armature = 0.1 + float newton:damping = 0.222 + float newton:velocityLimit = 146.46 + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + } +} + diff --git a/robotiq_2f_85/runnables/physics/physx.usda b/robotiq_2f_85/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..1f77346f2d3436d058d5f842fc3f8829d5782538 --- /dev/null +++ b/robotiq_2f_85/runnables/physics/physx.usda @@ -0,0 +1,323 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_85" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "Robotiq_2F_85" ( + prepend apiSchemas = ["PhysxArticulationAPI"] +) +{ + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 64 + + over "Joints" + { + over "finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.02 + float physxJoint:maxJointVelocity = 146.46 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "base_link" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_basestep_01" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + } + } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysxMaterialAPI"] + ) + { + bool physxMaterial:compliantContactAccelerationSpring = 0 + float physxMaterial:compliantContactStiffness = 0 + uniform token physxMaterial:frictionCombineMode = "max" + } +} + diff --git a/robotiq_hand_e_robotiq_hand_e_base/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/robotiq_hand_e_robotiq_hand_e_base/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json new file mode 100644 index 0000000000000000000000000000000000000000..037cb929311cd3777815518f78b76d0f7c80e77b --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -0,0 +1,34 @@ +{ + "format_version": "1.0", + "profile": "Package-Candidate", + "profile_version": "1.0.0", + "timestamp": "2026-11-04T23:10:39", + "assets": [ + { + "asset": "Robotiq_Hand_E_base.usda", + "features": [ + { + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "version": "0-1-0", + "passed": true, + "failing_requirements": [], + "dependencies": [] + } + }, + { + "CAP033_SimReadyPackage.OpenUSD.0-1-0": { + "version": "0-1-0", + "passed": true, + "failing_requirements": [], + "dependencies": [ + "CAP031_SelfContainedPackage.OpenUSD.0-1-0" + ] + } + } + ] + } + ], + "content_hash": { + "sha256": "ef17954c417b4915bba4a88c901ea837651c25a341b60643e6f685d5e826383d" + } +} diff --git a/robotiq_hand_e_robotiq_hand_e_base/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/robotiq_hand_e_robotiq_hand_e_base/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json new file mode 100644 index 0000000000000000000000000000000000000000..3a28ddef729f8f93bfb6d234a033c6aabd4fbb19 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -0,0 +1,31 @@ +{ + "format_version": "1.0", + "profile": "Package", + "profile_version": "1.1.0", + "timestamp": "2026-11-04T23:10:41", + "assets": [ + { + "asset": "com.nvidia.simready.packaging.json", + "features": [ + { + "CAP030_PackagingCore.OpenUSD.0-2-0": { + "version": "0.0.0", + "passed": true, + "failing_requirements": [], + "dependencies": [] + } + }, + { + "CAP032_PackagingIntrospection.OpenUSD.0-2-0": { + "version": "0.0.0", + "passed": true, + "failing_requirements": [], + "dependencies": [ + "CAP030_PackagingCore.OpenUSD.0-2-0" + ] + } + } + ] + } + ] +} diff --git a/robotiq_hand_e_robotiq_hand_e_base/.metadata/com.nvidia.simready.packaging.bom.json b/robotiq_hand_e_robotiq_hand_e_base/.metadata/com.nvidia.simready.packaging.bom.json new file mode 100644 index 0000000000000000000000000000000000000000..15bdecde89365b61f69964c6b400ae362f38eb55 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/.metadata/com.nvidia.simready.packaging.bom.json @@ -0,0 +1,167 @@ +{ + "format_version": "1.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-gripper-package_1.0/.packages/robotiq_hand_e_robotiq_hand_e_base/1.0.0", + "items": [ + { + "relative_path": ".thumbs/256x256/Robotiq_Hand_E_base.usda.png", + "size": 48309, + "hash": { + "sha256-flat-1mb": "7528b74a833de89eb94791e801527e194fc1445d8b5168a709e078ba6cf3c4e0", + "sha256": "5335ad10d9c597da127c50bf962c60a9cc4b65cd5002ce02bee7b2045441a51f" + } + }, + { + "relative_path": "Robotiq_Hand_E_base.usda", + "size": 108348, + "hash": { + "sha256-flat-1mb": "e03b9fbc29b429e1fbc58b4a91ac442ba6f49f85c3f67a1f12f32f27ee277918", + "sha256": "a18bce0606b7623df1913fde2d41da4dcc393d15603acc3b6f1ad9d4d7a9957b" + } + }, + { + "relative_path": "materials/mdl/OmniPBR.mdl", + "size": 13969, + "hash": { + "sha256-flat-1mb": "1c58f77068df165a71676dfde42a4b7e4932a82cacacfc7a205ae94fc0332aaf", + "sha256": "c902cc38dc97ff6a89fe94dca94edfb523a30e3749d3708610a136867c3357bf" + } + }, + { + "relative_path": "materials/mdl/OmniPBRBase.mdl", + "size": 17274, + "hash": { + "sha256-flat-1mb": "4b54e7fb8bc92191512851b3acc6fc6fa9863f80d98ffece8f0cb9b99f5f4535", + "sha256": "701f37299b44106842bdbe025de52eedec391e35b038f61c4ed4d25bd98e7db1" + } + }, + { + "relative_path": "materials/mdl/OmniPBR_ClearCoat.mdl", + "size": 27433, + "hash": { + "sha256-flat-1mb": "b1f146a3767a5012936e3d246f2697c3536c2f72b5c5963d3bca0998d02f8931", + "sha256": "085ba661b49042570e24cda09c939e5aebf312ae332af92744a99bd3abbfbee4" + } + }, + { + "relative_path": "materials/mdl/aux_definitions.mdl", + "size": 101769, + "hash": { + "sha256-flat-1mb": "6a5ffcb49e18ade213c3a4d79cf171d66612f9eee045074a0b937dbe4cf01ef6", + "sha256": "ebb81c8977aeb30790399ec7aaa7f2f76cb23afb434f56201ef152aba45a6e81" + } + }, + { + "relative_path": "materials/mdl/core_definitions.mdl", + "size": 201537, + "hash": { + "sha256-flat-1mb": "54bdc55e3899f126b1e271eef4de9c5966b1390fb3143872846f29f0ca68378d", + "sha256": "052aec260e8dfef5d671545fc2fc28c0c478a5b043041c65a833b2a6d81bf950" + } + }, + { + "relative_path": "materials/mdl/license.txt", + "size": 3220, + "hash": { + "sha256-flat-1mb": "d54635995b7794c6549d0f7c70586e739c1e24cb671ce966e64a8c1a6703a452", + "sha256": "d62e1bd5e34d0ca6f92f0e9f10670ee0cd586695e20f0a838a8f859119589683" + } + }, + { + "relative_path": "materials/mdl/support_definitions.mdl", + "size": 147454, + "hash": { + "sha256-flat-1mb": "2b93c649c03f3ef48fb24cc6baba953df1f9dd4e7e860719bc3322fc3e789aba", + "sha256": "bb372f21b6e81d293b99fea6819a8309e2c33c732c7151752b4b33dade177f2e" + } + }, + { + "relative_path": "payloads/Physics/mujoco.usda", + "size": 8491, + "hash": { + "sha256-flat-1mb": "bc44327b5cfb632ac9f56d67d450a8cd5fd0d95edf09b9084b85516d08613134", + "sha256": "ca7c7bbe3ea01ab6f40d3738cffb15b3512c16fbbf4df744addf2af4b4831b0a" + } + }, + { + "relative_path": "payloads/Physics/physics.usda", + "size": 20540, + "hash": { + "sha256-flat-1mb": "f88f9459a81867afb6d70cc1f580a4df7ee533e6908adf686f7b04692c9277a8", + "sha256": "610f7bd86d3164b8aef0e2b0990bfc07180e051b71923a99cbd9ec61ed61424e" + } + }, + { + "relative_path": "payloads/Physics/physx.usda", + "size": 302, + "hash": { + "sha256-flat-1mb": "d53a5c8278e902aa7e04ae33722ab5174cd698aaa2fe7a36a54ae9eb817f9076", + "sha256": "f0a5e08779f599afeedc91364ded36b508c75b2655d2a58895446e371d5cd024" + } + }, + { + "relative_path": "payloads/base.usda", + "size": 22221, + "hash": { + "sha256-flat-1mb": "4593fd6805ff897a0eb11b2ce373cf93f18ecb224dc08da0d5420c5969801c00", + "sha256": "479d68f464a3be6c2590d6af295ca21e40e3b88d8e2796efdf69ff71c73f33c9" + } + }, + { + "relative_path": "payloads/geometries.usd", + "size": 2960687, + "hash": { + "sha256-flat-1mb": "8dce97698436bb29214ad79b87a264a9d4cc4aa2546ca40b4e91be5d78dfcf16", + "sha256": "771a0a04f7fcf33054a3b0d7223ab3d1f7a2bf8d5b7907e88afe111c91a3d7b9", + "sha256-first1m": "2323c989f70702fc185e3aa761e72c38a7e00faaa1ffe0f22837edc58e970a17" + } + }, + { + "relative_path": "payloads/instances.usda", + "size": 39098, + "hash": { + "sha256-flat-1mb": "3d77bc3fccf07381438caed15b059424b011549d298e8e7fbfe71063435e631f", + "sha256": "981a229ea506b47f05c41da56a3f8fde471948f08db2228c210489def025d5f2" + } + }, + { + "relative_path": "payloads/materials.usda", + "size": 12497, + "hash": { + "sha256-flat-1mb": "bfcf26e6749254ab92f509a65463265cf6fd28959a008317ac7bc1cdef319a38", + "sha256": "5d24c588d9c89238974e4720d142f932b0d5eee78d0250d98c7469e78a09d64b" + } + }, + { + "relative_path": "payloads/robot.usda", + "size": 7981, + "hash": { + "sha256-flat-1mb": "4d7049fb7080425a34e9763a47a7009d77e9eb80464ac4abb80952423ab6bfda", + "sha256": "53c68e4ef01386b37ec16ab570b42a765313e91a057095bc0a5176a72f7fcb91" + } + }, + { + "relative_path": "runnables/physics/mujoco.usda", + "size": 12384, + "hash": { + "sha256-flat-1mb": "905228b547d2aeb1efc29ccaea46468d0c4d40668c2e392f9664a210ae2591ca", + "sha256": "bcfe4c8f54cc737600178400fae4882f18744483670e71c42d5187b6b4f30e88" + } + }, + { + "relative_path": "runnables/physics/newton.usda", + "size": 12065, + "hash": { + "sha256-flat-1mb": "3b9d028b381d03d87de295b860f0362154602bd62f80153b7ecb356049b4be98", + "sha256": "8063cdca104222ce41a208d8370d8e5bcd570522cb248ced3f3bec653079e0a5" + } + }, + { + "relative_path": "runnables/physics/physx.usda", + "size": 9500, + "hash": { + "sha256-flat-1mb": "0de33278599543a5ec36e83945ec49f63a3c027c6b383f32ecf7200f9a167c07", + "sha256": "774cf72c96be5ae4f642067b5a6b6c2b924a4f9647bcaf6056d55fe09b61b5c3" + } + } + ] +} \ No newline at end of file diff --git a/robotiq_hand_e_robotiq_hand_e_base/.metadata/com.nvidia.simready.root_usds.json b/robotiq_hand_e_robotiq_hand_e_base/.metadata/com.nvidia.simready.root_usds.json new file mode 100644 index 0000000000000000000000000000000000000000..e59436c2123fcfcd99fcb1a336c644726e37e796 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/.metadata/com.nvidia.simready.root_usds.json @@ -0,0 +1,6 @@ +{ + "format_version": "1.0", + "entries": [ + "Robotiq_Hand_E_base.usda" + ] +} diff --git a/robotiq_hand_e_robotiq_hand_e_base/.metadata/license.txt b/robotiq_hand_e_robotiq_hand_e_base/.metadata/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..da6ab6cc8f333d7e89a99812866df8f24374d47c --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/.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. The +following considerations are for informational purposes only, are not +exhaustive, and do not form part of our licenses. + + Considerations for licensors: Our public licenses are + intended for use by those authorized to give the public + permission to use material in ways otherwise restricted by + copyright and certain other rights. Our licenses are + irrevocable. Licensors should read and understand the terms + and conditions of the license they choose before applying it. + Licensors should also secure all rights necessary before + applying our licenses so that the public can reuse the + material as expected. Licensors should clearly mark any + material not subject to the license. This includes other CC- + licensed material, or material used under an exception or + limitation to copyright. More considerations for licensors: + wiki.creativecommons.org/Considerations_for_licensors + + Considerations for the public: By using one of our public + licenses, a licensor grants the public permission to use the + licensed material under specified terms and conditions. If + the licensor's permission is not necessary for any reason--for + example, because of any applicable exception or limitation to + copyright--then that use is not regulated by the license. Our + licenses grant only permissions under copyright and certain + other rights that a licensor has authority to grant. Use of + the licensed material may still be restricted for other + reasons, including because others have copyright or other + rights in the material. A licensor may make special requests, + such as asking that all changes be marked or described. + Although not required by our licenses, you are encouraged to + respect those requests where reasonable. More considerations + for the public: + wiki.creativecommons.org/Considerations_for_licensees + +======================================================================= + +Creative Commons Attribution 4.0 International Public License + +By exercising the Licensed Rights (defined below), You accept and agree +to be bound by the terms and conditions of this Creative Commons +Attribution 4.0 International Public License ("Public License"). To the +extent this Public License may be interpreted as a contract, You are +granted the Licensed Rights in consideration of Your acceptance of +these terms and conditions, and the Licensor grants You such rights in +consideration of benefits the Licensor receives from making the +Licensed Material available under these terms and conditions. + + +Section 1 -- Definitions. + + a. Adapted Material means material subject to Copyright and Similar + Rights that is derived from or based upon the Licensed Material + and in which the Licensed Material is translated, altered, + arranged, transformed, or otherwise modified in a manner requiring + permission under the Copyright and Similar Rights held by the + Licensor. For purposes of this Public License, where the Licensed + Material is a musical work, performance, or sound recording, + Adapted Material is always produced where the Licensed Material is + synched in timed relation with a moving image. + + b. Adapter's License means the license You apply to Your Copyright + and Similar Rights in Your contributions to Adapted Material in + accordance with the terms and conditions of this Public License. + + c. Copyright and Similar Rights means copyright and/or similar rights + closely related to copyright including, without limitation, + performance, broadcast, sound recording, and Sui Generis Database + Rights, without regard to how the rights are labeled or + categorized. For purposes of this Public License, the rights + specified in Section 2(b)(1)-(2) are not Copyright and Similar + Rights. + + d. Effective Technological Measures means those measures that, in the + absence of proper authority, may not be circumvented under laws + fulfilling obligations under Article 11 of the WIPO Copyright + Treaty adopted on December 20, 1996, and/or similar international + agreements. + + e. Exceptions and Limitations means fair use, fair dealing, and/or + any other exception or limitation to Copyright and Similar Rights + that applies to Your use of the Licensed Material. + + f. Licensed Material means the artistic or literary work, database, + or other material to which the Licensor applied this Public + License. + + g. Licensed Rights means the rights granted to You subject to the + terms and conditions of this Public License, which are limited to + all Copyright and Similar Rights that apply to Your use of the + Licensed Material and that the Licensor has authority to license. + + h. Licensor means the individual(s) or entity(ies) granting rights + under this Public License. + + i. Share means to provide material to the public by any means or + process that requires permission under the Licensed Rights, such + as reproduction, public display, public performance, distribution, + dissemination, communication, or importation, and to make material + available to the public including in ways that members of the + public may access the material from a place and at a time + individually chosen by them. + + j. Sui Generis Database Rights means rights other than copyright + resulting from Directive 96/9/EC of the European Parliament and of + the Council of 11 March 1996 on the legal protection of databases, + as amended and/or succeeded, as well as other essentially + equivalent rights anywhere in the world. + + k. You means the individual or entity exercising the Licensed Rights + under this Public License. Your has a corresponding meaning. + + +Section 2 -- Scope. + + a. License grant. + + 1. Subject to the terms and conditions of this Public License, + the Licensor hereby grants You a worldwide, royalty-free, + non-sublicensable, non-exclusive, irrevocable license to + exercise the Licensed Rights in the Licensed Material to: + + a. reproduce and Share the Licensed Material, in whole or + in part; and + + b. produce, reproduce, and Share Adapted Material. + + 2. Exceptions and Limitations. For the avoidance of doubt, where + Exceptions and Limitations apply to Your use, this Public + License does not apply, and You do not need to comply with + its terms and conditions. + + 3. Term. The term of this Public License is specified in Section + 6(a). + + 4. Media and formats; technical modifications allowed. The + Licensor authorizes You to exercise the Licensed Rights in + all media and formats whether now known or hereafter created, + and to make technical modifications necessary to do so. The + Licensor waives and/or agrees not to assert any right or + authority to forbid You from making technical modifications + necessary to exercise the Licensed Rights, including + technical modifications necessary to circumvent Effective + Technological Measures. For purposes of this Public License, + simply making modifications authorized by this Section 2(a) + (4) never produces Adapted Material. + + 5. Downstream recipients. + + a. Offer from the Licensor -- Licensed Material. Every + recipient of the Licensed Material automatically + receives an offer from the Licensor to exercise the + Licensed Rights under the terms and conditions of this + Public License. + + b. No downstream restrictions. You may not offer or impose + any additional or different terms or conditions on, or + apply any Effective Technological Measures to, the + Licensed Material if doing so restricts exercise of the + Licensed Rights by any recipient of the Licensed + Material. + + 6. No endorsement. Nothing in this Public License constitutes or + may be construed as permission to assert or imply that You + are, or that Your use of the Licensed Material is, connected + with, or sponsored, endorsed, or granted official status by, + the Licensor or others designated to receive attribution as + provided in Section 3(a)(1)(A)(i). + + b. Other rights. + + 1. Moral rights, such as the right of integrity, are not + licensed under this Public License, nor are publicity, + privacy, and/or other similar personality rights; however, to + the extent possible, the Licensor waives and/or agrees not to + assert any such rights held by the Licensor to the limited + extent necessary to allow You to exercise the Licensed + Rights, but not otherwise. + + 2. Patent and trademark rights are not licensed under this + Public License. + + 3. To the extent possible, the Licensor waives any right to + collect royalties from You for the exercise of the Licensed + Rights, whether directly or through a collecting society + under any voluntary or waivable statutory or compulsory + licensing scheme. In all other cases the Licensor expressly + reserves any right to collect such royalties. + + +Section 3 -- License Conditions. + +Your exercise of the Licensed Rights is expressly made subject to the +following conditions. + + a. Attribution. + + 1. If You Share the Licensed Material (including in modified + form), You must: + + a. retain the following if it is supplied by the Licensor + with the Licensed Material: + + i. identification of the creator(s) of the Licensed + Material and any others designated to receive + attribution, in any reasonable manner requested by + the Licensor (including by pseudonym if + designated); + + ii. a copyright notice; + + iii. a notice that refers to this Public License; + + iv. a notice that refers to the disclaimer of + warranties; + + v. a URI or hyperlink to the Licensed Material to the + extent reasonably practicable; + + b. indicate if You modified the Licensed Material and + retain an indication of any previous modifications; and + + c. indicate the Licensed Material is licensed under this + Public License, and include the text of, or the URI or + hyperlink to, this Public License. + + 2. You may satisfy the conditions in Section 3(a)(1) in any + reasonable manner based on the medium, means, and context in + which You Share the Licensed Material. For example, it may be + reasonable to satisfy the conditions by providing a URI or + hyperlink to a resource that includes the required + information. + + 3. If requested by the Licensor, You must remove any of the + information required by Section 3(a)(1)(A) to the extent + reasonably practicable. + + 4. If You Share Adapted Material You produce, the Adapter's + License You apply must not prevent recipients of the Adapted + Material from complying with this Public License. + + +Section 4 -- Sui Generis Database Rights. + +Where the Licensed Rights include Sui Generis Database Rights that +apply to Your use of the Licensed Material: + + a. for the avoidance of doubt, Section 2(a)(1) grants You the right + to extract, reuse, reproduce, and Share all or a substantial + portion of the contents of the database; + + b. if You include all or a substantial portion of the database + contents in a database in which You have Sui Generis Database + Rights, then the database in which You have Sui Generis Database + Rights (but not its individual contents) is Adapted Material; and + + c. You must comply with the conditions in Section 3(a) if You Share + all or a substantial portion of the contents of the database. + +For the avoidance of doubt, this Section 4 supplements and does not +replace Your obligations under this Public License where the Licensed +Rights include other Copyright and Similar Rights. + + +Section 5 -- Disclaimer of Warranties and Limitation of Liability. + + a. UNLESS OTHERWISE SEPARATELY UNDERTAKEN BY THE LICENSOR, TO THE + EXTENT POSSIBLE, THE LICENSOR OFFERS THE LICENSED MATERIAL AS-IS + AND AS-AVAILABLE, AND MAKES NO REPRESENTATIONS OR WARRANTIES OF + ANY KIND CONCERNING THE LICENSED MATERIAL, WHETHER EXPRESS, + IMPLIED, STATUTORY, OR OTHER. THIS INCLUDES, WITHOUT LIMITATION, + WARRANTIES OF TITLE, MERCHANTABILITY, FITNESS FOR A PARTICULAR + PURPOSE, NON-INFRINGEMENT, ABSENCE OF LATENT OR OTHER DEFECTS, + ACCURACY, OR THE PRESENCE OR ABSENCE OF ERRORS, WHETHER OR NOT + KNOWN OR DISCOVERABLE. WHERE DISCLAIMERS OF WARRANTIES ARE NOT + ALLOWED IN FULL OR IN PART, THIS DISCLAIMER MAY NOT APPLY TO YOU. + + b. TO THE EXTENT POSSIBLE, IN NO EVENT WILL THE LICENSOR BE LIABLE + TO YOU ON ANY LEGAL THEORY (INCLUDING, WITHOUT LIMITATION, + NEGLIGENCE) OR OTHERWISE FOR ANY DIRECT, SPECIAL, INDIRECT, + INCIDENTAL, CONSEQUENTIAL, PUNITIVE, EXEMPLARY, OR OTHER LOSSES, + COSTS, EXPENSES, OR DAMAGES ARISING OUT OF THIS PUBLIC LICENSE OR + USE OF THE LICENSED MATERIAL, EVEN IF THE LICENSOR HAS BEEN + ADVISED OF THE POSSIBILITY OF SUCH LOSSES, COSTS, EXPENSES, OR + DAMAGES. WHERE A LIMITATION OF LIABILITY IS NOT ALLOWED IN FULL OR + IN PART, THIS LIMITATION MAY NOT APPLY TO YOU. + + c. The disclaimer of warranties and limitation of liability provided + above shall be interpreted in a manner that, to the extent + possible, most closely approximates an absolute disclaimer and + waiver of all liability. + + +Section 6 -- Term and Termination. + + a. This Public License applies for the term of the Copyright and + Similar Rights licensed here. However, if You fail to comply with + this Public License, then Your rights under this Public License + terminate automatically. + + b. Where Your right to use the Licensed Material has terminated under + Section 6(a), it reinstates: + + 1. automatically as of the date the violation is cured, provided + it is cured within 30 days of Your discovery of the + violation; or + + 2. upon express reinstatement by the Licensor. + + For the avoidance of doubt, this Section 6(b) does not affect any + right the Licensor may have to seek remedies for Your violations + of this Public License. + + c. For the avoidance of doubt, the Licensor may also offer the + Licensed Material under separate terms or conditions or stop + distributing the Licensed Material at any time; however, doing so + will not terminate this Public License. + + d. Sections 1, 5, 6, 7, and 8 survive termination of this Public + License. + + +Section 7 -- Other Terms and Conditions. + + a. The Licensor shall not be bound by any additional or different + terms or conditions communicated by You unless expressly agreed. + + b. Any arrangements, understandings, or agreements regarding the + Licensed Material not stated herein are separate from and + independent of the terms and conditions of this Public License. + + +Section 8 -- Interpretation. + + a. For the avoidance of doubt, this Public License does not, and + shall not be interpreted to, reduce, limit, restrict, or impose + conditions on any use of the Licensed Material that could lawfully + be made without permission under this Public License. + + b. To the extent possible, if any provision of this Public License is + deemed unenforceable, it shall be automatically reformed to the + minimum extent necessary to make it enforceable. If the provision + cannot be reformed, it shall be severed from this Public License + without affecting the enforceability of the remaining terms and + conditions. + + c. No term or condition of this Public License will be waived and no + failure to comply consented to unless expressly agreed to by the + Licensor. + + d. Nothing in this Public License constitutes or may be interpreted + as a limitation upon, or waiver of, any privileges and immunities + that apply to the Licensor or You, including from the legal + processes of any jurisdiction or authority. + + +======================================================================= + +Creative Commons is not a party to its public +licenses. Notwithstanding, Creative Commons may elect to apply one of +its public licenses to material it publishes and in those instances +will be considered the “Licensor.” The text of the Creative Commons +public licenses is dedicated to the public domain under the CC0 Public +Domain Dedication. 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/robotiq_hand_e_robotiq_hand_e_base/.metadata/robotiq_hand_e_robotiq_hand_e_base_benchmark.json b/robotiq_hand_e_robotiq_hand_e_base/.metadata/robotiq_hand_e_robotiq_hand_e_base_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..a3e85c7a159a629128562f54e2a7bd0bafb052ed --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/.metadata/robotiq_hand_e_robotiq_hand_e_base_benchmark.json @@ -0,0 +1,7282 @@ +{ + "schema_version": "1.0", + "asset": "robotiq_hand_e_robotiq_hand_e_base", + "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": 101.563, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 22.221, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1388.81, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.546, + "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": 101.563, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 22.221, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1388.81, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.546, + "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": 113.641, + "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": 23, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 22, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 22, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 22, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.923, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 560.43, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.468, + "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": 47788, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 48027, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.1435, + 0.1434, + 0.1433 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.0, + "unit": null + }, + "display_color_response_ratio": { + "value": 1.0, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.999037, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 113.641, + "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": 23, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 22, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 22, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 22, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.923, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 560.43, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.468, + "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": 47788, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 48027, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.1435, + 0.1434, + 0.1433 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.0, + "unit": null + }, + "display_color_response_ratio": { + "value": 1.0, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.999037, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 18.672, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 1, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 1, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 1, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.43903946173342545, + "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": 1.937, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1937.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.766, + "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 + }, + "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": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4000.0, + "damping": 40.0, + "max_force": 185.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.02500000037252903, + "start": 8.176570531759353e-07, + "tolerance": 0.0012499591357737927 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 26, + "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": 8.422, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 1, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 1, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 1, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.4390394617334254, + "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": 0.359, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 359.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.657, + "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": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 45000.0, + "damping": 0.0, + "max_force": 185.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.02500000037252903, + "start": 6.379665933309298e-07, + "tolerance": 0.001249968120296785 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 84, + "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": 11.609, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 1, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.43903946173342545, + "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": "Slider_1", + "body_path": "/World/AssetRoot/Asset/left_gripper", + "direction": "-XZ", + "world_com": [ + 0.007599195385163405, + 0.0204722434550373, + 0.12732406472155094 + ] + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.219, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 268.25, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.64, + "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": "Slider_1", + "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": "unknown_native", + "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_gripper", + "runtime_lower": 0.0, + "runtime_upper": 0.02500000037252903, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4000.0, + "damping": 40.0, + "max_force": 185.0 + } + }, + "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": 10.547, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 1, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.4390394617334254, + "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": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 59.92, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.984, + "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": "Slider_1", + "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": "unknown_native", + "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_gripper", + "runtime_lower": 0.0, + "runtime_upper": 0.02500000037252903, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 45000.0, + "damping": 0.0, + "max_force": 185.0 + } + }, + "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": "full_range_sweep", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 19.343, + "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": 19.25, + "setup_elapsed_wall_seconds": 1.0, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3340.75, + "observed_service_seconds_per_nominal_tick": 0.014623397435897436, + "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": 12.811000000336207, + "attempts": 1248 + }, + "captures": { + "wall_seconds": 3.593000000109896, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 0.3589999998221174, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.10999999998603016, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 0.17399999988265336, + "attempts": 1018 + }, + "commands": { + "wall_seconds": 0.2639999999664724, + "attempts": 1008 + }, + "encoding": { + "wall_seconds": 0.6870000000344589, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 2, + "unit": null + }, + "frs_joints_tested": { + "value": 1, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 1, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.43903946173342545, + "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": 0.0008499376640170289, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "Slider_1", + "segment": "to_max", + "requested_start": 4.824114512302913e-05, + "observed_start": 4.824114512302913e-05, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.15000000596046448, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0001792149311356225 + }, + { + "joint": "Slider_1", + "segment": "to_min", + "requested_start": 0.022500000335276125, + "observed_start": 0.022548263892531395, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.15000000596046448, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00016002969726286453 + }, + { + "joint": "Slider_1", + "segment": "to_zero", + "requested_start": 0.002500000037252903, + "observed_start": 0.002548256190493703, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.15000000596046448, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 2.034074719169804e-05 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.593, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 399.22, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.687, + "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": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "current sweep segment destination" + }, + "error": { + "unit": "unknown_native", + "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": 0.02500000037252903, + "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": 0.15000000596046448, + "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": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4000.0, + "damping": 40.0, + "max_force": 185.0 + } + }, + "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": 10.375, + "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": 10.265999999945052, + "setup_elapsed_wall_seconds": 4.718999999924563, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3349.734000000055, + "observed_service_seconds_per_nominal_tick": 0.004416401273901663, + "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": 0.6410000001778826, + "attempts": 1256 + }, + "captures": { + "wall_seconds": 0.5950000000884756, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 0.32899999991059303, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.09200000006239861, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 0.890999999945052, + "attempts": 1026 + }, + "commands": { + "wall_seconds": 1.891999999876134, + "attempts": 1016 + }, + "encoding": { + "wall_seconds": 0.7970000000204891, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 2, + "unit": null + }, + "frs_joints_tested": { + "value": 1, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 1, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.4390394617334254, + "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": 0.0008499375591315329, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "Slider_1", + "segment": "to_max", + "requested_start": 8.934166739749116e-10, + "observed_start": 8.934166739749116e-10, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.15000000596046448, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00017959999554479814 + }, + { + "joint": "Slider_1", + "segment": "to_min", + "requested_start": 0.022500000335276125, + "observed_start": 0.02249545231461525, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.15000000596046448, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0001596081435117913 + }, + { + "joint": "Slider_1", + "segment": "to_zero", + "requested_start": 0.002500000037252903, + "observed_start": 0.0025040428154170513, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.15000000596046448, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 1.9987826206657733e-05 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.595, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 66.11, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.797, + "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": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "current sweep segment destination" + }, + "error": { + "unit": "unknown_native", + "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": 0.02500000037252903, + "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": 0.15000000596046448, + "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": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 45000.0, + "damping": 0.0, + "max_force": 185.0 + } + }, + "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": 39.89, + "message": "", + "metrics": { + "gripper_max_opening_m": { + "value": 0.05000000074505806, + "unit": null + }, + "gripper_max_payload_kg": { + "value": 0.5, + "unit": null + }, + "used_heuristic_payload": { + "value": false, + "unit": null + }, + "tested_object_mass_kg": { + "value": 0.425, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.626, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 29, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 125.03, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.781, + "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 + }, + "test_support_collision_suspended": { + "value": [], + "unit": null + }, + "detect_probe_evidence_1": { + "value": { + "schema_version": 1, + "trial_index": 0, + "trial_shape": "cube", + "dof_index": 1, + "joint_name": "Slider_1", + "joint_units": "native articulation position units; see motion metadata when identity resolves", + "lower_limit": 0.0, + "upper_limit": 0.02500000037252903, + "inset_fraction": 0.05, + "original_position": 8.20444320120961e-12, + "prior_target": 0.0, + "meters_per_unit": 1.0, + "reference_path": "/World/AssetRoot/Asset/base_link", + "candidate_body_paths": [ + "/World/AssetRoot/Asset/left_gripper", + "/World/AssetRoot/Asset/right_gripper" + ], + "candidate_body_paths_omitted": 0, + "missing_geometry_paths": [], + "geometry_basis": "owned bound corners transformed by live tensor poses; not measured contacts", + "ramps": [ + { + "phase": "lower_endpoint", + "start_position": 8.20444320120961e-12, + "commanded_target": 0.0012500000186264515, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 2.5897811400979784e-07, + "achieved": 2.820585507379292e-07 + }, + { + "step": 4, + "commanded": 4.074082312485302e-06, + "achieved": 4.222538791509578e-06 + }, + { + "step": 8, + "commanded": 1.5925934263153234e-05, + "achieved": 1.623235220904462e-05 + }, + { + "step": 12, + "commanded": 3.500000849625944e-05, + "achieved": 3.5449411370791495e-05 + }, + { + "step": 16, + "commanded": 6.074074945161635e-05, + "achieved": 6.13240190432407e-05 + }, + { + "step": 20, + "commanded": 9.25926015690364e-05, + "achieved": 9.329678141511977e-05 + }, + { + "step": 24, + "commanded": 0.0001300000092883321, + "achieved": 0.00013081544602755457 + }, + { + "step": 28, + "commanded": 0.00017240741704931575, + "achieved": 0.00017331897106487304 + }, + { + "step": 32, + "commanded": 0.00021925926929179996, + "achieved": 0.00022025806538295 + }, + { + "step": 36, + "commanded": 0.000270000010455597, + "achieved": 0.00027107601636089385 + }, + { + "step": 40, + "commanded": 0.0003240740849805194, + "achieved": 0.00032521274988539517 + }, + { + "step": 44, + "commanded": 0.0003809259373063796, + "achieved": 0.0003821202553808689 + }, + { + "step": 48, + "commanded": 0.00044000001187299024, + "achieved": 0.0004412327834870666 + }, + { + "step": 52, + "commanded": 0.0005007407531201633, + "achieved": 0.0005020039970986545 + }, + { + "step": 56, + "commanded": 0.0005625926054877115, + "achieved": 0.0005638745496980846 + }, + { + "step": 60, + "commanded": 0.0006250000134154474, + "achieved": 0.0006262879469431937 + }, + { + "step": 64, + "commanded": 0.0006874074213431832, + "achieved": 0.0006886926130391657 + }, + { + "step": 68, + "commanded": 0.0007492592737107314, + "achieved": 0.0007505276007577777 + }, + { + "step": 72, + "commanded": 0.0008100000149579047, + "achieved": 0.0008112426148727536 + }, + { + "step": 76, + "commanded": 0.000869074089524515, + "achieved": 0.000870274321641773 + }, + { + "step": 80, + "commanded": 0.0009259259418503752, + "achieved": 0.0009270786540582776 + }, + { + "step": 84, + "commanded": 0.0009800000163752976, + "achieved": 0.0009810904739424586 + }, + { + "step": 88, + "commanded": 0.0010307407575390946, + "achieved": 0.0010317559354007244 + }, + { + "step": 92, + "commanded": 0.001077592609781579, + "achieved": 0.0010785239282995462 + }, + { + "step": 96, + "commanded": 0.0011200000175425628, + "achieved": 0.0011208337964490056 + }, + { + "step": 100, + "commanded": 0.0011574074252618586, + "achieved": 0.0011581346625462174 + }, + { + "step": 104, + "commanded": 0.0011892592773792784, + "achieved": 0.001189866685308516 + }, + { + "step": 108, + "commanded": 0.0012150000183346352, + "achieved": 0.0012154773576185107 + }, + { + "step": 112, + "commanded": 0.0012340740925677416, + "achieved": 0.0012344090500846505 + }, + { + "step": 116, + "commanded": 0.0012459259445184094, + "achieved": 0.001246108440682292 + }, + { + "step": 120, + "commanded": 0.0012500000186264515, + "achieved": 0.001250019297003746 + } + ], + "samples_omitted": 89, + "last_commanded_position": 0.0012500000186264515, + "last_achieved_position": 0.001250019297003746 + }, + { + "phase": "upper_endpoint", + "start_position": 0.001250019297003746, + "commanded_target": 0.023750000353902578, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 0.0012546807514125249, + "achieved": 0.001255106646567583 + }, + { + "step": 4, + "commanded": 0.0013233525685966015, + "achieved": 0.0013260530540719628 + }, + { + "step": 8, + "commanded": 0.001536685722321272, + "achieved": 0.0015421921852976084 + }, + { + "step": 12, + "commanded": 0.0018800187665969133, + "achieved": 0.0018881232244893909 + }, + { + "step": 16, + "commanded": 0.0023433517098426816, + "achieved": 0.0023538481909781694 + }, + { + "step": 20, + "commanded": 0.002916684560477734, + "achieved": 0.002929368522018194 + }, + { + "step": 24, + "commanded": 0.003590017326921225, + "achieved": 0.0036046828608959913 + }, + { + "step": 28, + "commanded": 0.00435335001759231, + "achieved": 0.004369786009192467 + }, + { + "step": 32, + "commanded": 0.005196682640910149, + "achieved": 0.005214688368141651 + }, + { + "step": 36, + "commanded": 0.006110015205293894, + "achieved": 0.006129383109509945 + }, + { + "step": 40, + "commanded": 0.007083347719162702, + "achieved": 0.007103868760168552 + }, + { + "step": 44, + "commanded": 0.00810668019093573, + "achieved": 0.008128149434924126 + }, + { + "step": 48, + "commanded": 0.009170012629032137, + "achieved": 0.009192226454615593 + }, + { + "step": 52, + "commanded": 0.010263345041871071, + "achieved": 0.010286091826856136 + }, + { + "step": 56, + "commanded": 0.011376677437871694, + "achieved": 0.01139975618571043 + }, + { + "step": 60, + "commanded": 0.012500009825453162, + "achieved": 0.01252321433275938 + }, + { + "step": 64, + "commanded": 0.01362334221303463, + "achieved": 0.013646462000906467 + }, + { + "step": 68, + "commanded": 0.014736674609035253, + "achieved": 0.01475951075553894 + }, + { + "step": 72, + "commanded": 0.01583000702187419, + "achieved": 0.015852347016334534 + }, + { + "step": 76, + "commanded": 0.016893339459970593, + "achieved": 0.01691497676074505 + }, + { + "step": 80, + "commanded": 0.017916671931743622, + "achieved": 0.01793740689754486 + }, + { + "step": 84, + "commanded": 0.018890004445612427, + "achieved": 0.018909620121121407 + }, + { + "step": 88, + "commanded": 0.019803337009996175, + "achieved": 0.019821632653474808 + }, + { + "step": 92, + "commanded": 0.020646669633314015, + "achieved": 0.020663436502218246 + }, + { + "step": 96, + "commanded": 0.021410002323985104, + "achieved": 0.02142503298819065 + }, + { + "step": 100, + "commanded": 0.022083335090428594, + "achieved": 0.0220964252948761 + }, + { + "step": 104, + "commanded": 0.022656667941063642, + "achieved": 0.022667620331048965 + }, + { + "step": 108, + "commanded": 0.02312000088430941, + "achieved": 0.023128602653741837 + }, + { + "step": 112, + "commanded": 0.023463333928585052, + "achieved": 0.02346937730908394 + }, + { + "step": 116, + "commanded": 0.02367666708230972, + "achieved": 0.0236799493432045 + }, + { + "step": 120, + "commanded": 0.023750000353902578, + "achieved": 0.0237503070384264 + } + ], + "samples_omitted": 89, + "last_commanded_position": 0.023750000353902578, + "last_achieved_position": 0.0237503070384264 + }, + { + "phase": "restore", + "start_position": 0.0237503070384264, + "commanded_target": 8.20444320120961e-12, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 0.02374538654657639, + "achieved": 0.02374492958188057 + }, + { + "step": 4, + "commanded": 0.0236728986303279, + "achieved": 0.023670053109526634 + }, + { + "step": 8, + "commanded": 0.02344771053404135, + "achieved": 0.023441903293132782 + }, + { + "step": 12, + "commanded": 0.023085298441580183, + "achieved": 0.0230767410248518 + }, + { + "step": 16, + "commanded": 0.022596218044957837, + "achieved": 0.02258513867855072 + }, + { + "step": 20, + "commanded": 0.021991025036187738, + "achieved": 0.021977636963129044 + }, + { + "step": 24, + "commanded": 0.021280275107283315, + "achieved": 0.02126479707658291 + }, + { + "step": 28, + "commanded": 0.02047452395025801, + "achieved": 0.02045717090368271 + }, + { + "step": 32, + "commanded": 0.019584327257125243, + "achieved": 0.019565321505069733 + }, + { + "step": 36, + "commanded": 0.018620240719898457, + "achieved": 0.018599802628159523 + }, + { + "step": 40, + "commanded": 0.017592820030591077, + "achieved": 0.017571156844496727 + }, + { + "step": 44, + "commanded": 0.01651262088121654, + "achieved": 0.01648995652794838 + }, + { + "step": 48, + "commanded": 0.015390198963788269, + "achieved": 0.015366751700639725 + }, + { + "step": 52, + "commanded": 0.014236109970319707, + "achieved": 0.014212096109986305 + }, + { + "step": 56, + "commanded": 0.01306090959282428, + "achieved": 0.013036547228693962 + }, + { + "step": 60, + "commanded": 0.011875153523315422, + "achieved": 0.011850657872855663 + }, + { + "step": 64, + "commanded": 0.010689397453806563, + "achieved": 0.010664990171790123 + }, + { + "step": 68, + "commanded": 0.009514197076311137, + "achieved": 0.009490094147622585 + }, + { + "step": 72, + "commanded": 0.008360108082842571, + "achieved": 0.00833652913570404 + }, + { + "step": 76, + "commanded": 0.007237686165414304, + "achieved": 0.007214846555143595 + }, + { + "step": 80, + "commanded": 0.006157487016039766, + "achieved": 0.0061356062069535255 + }, + { + "step": 84, + "commanded": 0.005130066326732387, + "achieved": 0.005109359044581652 + }, + { + "step": 88, + "commanded": 0.0041659797895056, + "achieved": 0.004146667197346687 + }, + { + "step": 92, + "commanded": 0.003275783096372834, + "achieved": 0.0032580820843577385 + }, + { + "step": 96, + "commanded": 0.0024700319393475244, + "achieved": 0.002454159315675497 + }, + { + "step": 100, + "commanded": 0.0017592820104431056, + "achieved": 0.0017454574117437005 + }, + { + "step": 104, + "commanded": 0.001154089001673006, + "achieved": 0.0011425286065787077 + }, + { + "step": 108, + "commanded": 0.0006650086050506605, + "achieved": 0.0006559285102412105 + }, + { + "step": 112, + "commanded": 0.0003025965125894939, + "achieved": 0.00029621468274854124 + }, + { + "step": 116, + "commanded": 7.740841630294454e-05, + "achieved": 7.394564454443753e-05 + }, + { + "step": 120, + "commanded": 8.204444068571348e-12, + "achieved": -1.0466421063171083e-09 + } + ], + "samples_omitted": 89, + "last_commanded_position": 8.204444068571348e-12, + "last_achieved_position": -1.0466421063171083e-09 + } + ], + "endpoints": { + "lower": { + "commanded": 0.0012500000186264515, + "achieved": 0.001250019297003746, + "geometry": { + "coordinate_basis": "world and gripper-base-relative stage lengths; geometry proxies, not contacts", + "reference_path": "/World/AssetRoot/Asset/base_link", + "reference_position_world": [ + -2.3490542844228912e-11, + 3.723471309058368e-09, + 0.14980365335941315 + ], + "reference_quaternion_xyzw": [ + 0.7071068286895752, + 0.0, + 4.902744876744691e-13, + -0.7071068286895752 + ], + "candidate_count": 2, + "candidates": [ + { + "body_path": "/World/AssetRoot/Asset/left_gripper", + "body_position_world": [ + 1.3969838619232178e-09, + -0.0012500137090682983, + 0.14980365335941315 + ], + "body_quaternion_xyzw": [ + 0.70710688829422, + -2.3166649043560028e-08, + 2.277130128902627e-08, + -0.70710688829422 + ], + "tip_position_world": [ + 0.005230000702238844, + -0.01516086784540127, + 0.0897036530048217 + ], + "tip_position_reference": [ + 0.0052300007256982275, + 0.06010000035459507, + -0.01516087156886894 + ], + "geometry_min_world": [ + -0.01049000125654032, + -0.03776086819388033, + 0.08970365299603256 + ], + "geometry_max_world": [ + 0.02095000269562667, + 0.00743913250307778, + 0.15160365333435835 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_gripper", + "body_position_world": [ + -2.7939677238464355e-09, + 0.001250019297003746, + 0.14980363845825195 + ], + "body_quaternion_xyzw": [ + 0.70710688829422, + -2.200249582529068e-08, + 2.1849700715392828e-08, + -0.70710688829422 + ], + "tip_position_world": [ + -0.0052300021868447785, + 0.01516087341790914, + 0.08970363810771477 + ], + "tip_position_reference": [ + -0.005230002163406418, + 0.06010001525169475, + 0.015160869694434219 + ], + "geometry_min_world": [ + -0.020950004078960714, + -0.0074391268842006215, + 0.08970363810431792 + ], + "geometry_max_world": [ + 0.010489999718646807, + 0.03776087372001891, + 0.15160363843185914 + ] + } + ], + "candidates_omitted": 0 + } + }, + "upper": { + "commanded": 0.023750000353902578, + "achieved": 0.0237503070384264, + "geometry": { + "coordinate_basis": "world and gripper-base-relative stage lengths; geometry proxies, not contacts", + "reference_path": "/World/AssetRoot/Asset/base_link", + "reference_position_world": [ + -2.3490542844228912e-11, + 3.723471309058368e-09, + 0.14980365335941315 + ], + "reference_quaternion_xyzw": [ + 0.7071068286895752, + 0.0, + 4.902744876744691e-13, + -0.7071068286895752 + ], + "candidate_count": 2, + "candidates": [ + { + "body_path": "/World/AssetRoot/Asset/left_gripper", + "body_position_world": [ + 4.6566128730773926e-09, + -0.02375030517578125, + 0.14980365335941315 + ], + "body_quaternion_xyzw": [ + 0.70710688829422, + -2.3166649043560028e-08, + 2.277130128902627e-08, + -0.70710688829422 + ], + "tip_position_world": [ + 0.005230003961867855, + -0.03766115931211422, + 0.0897036530048217 + ], + "tip_position_reference": [ + 0.00523000398534284, + 0.060100000354595076, + -0.03766116303558189 + ], + "geometry_min_world": [ + -0.01048999799691131, + -0.06026115966059328, + 0.08970365299603256 + ], + "geometry_max_world": [ + 0.02095000595525568, + -0.015061158963635171, + 0.15160365333435835 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_gripper", + "body_position_world": [ + 2.3283064365386963e-09, + 0.023750388994812965, + 0.14980365335941315 + ], + "body_quaternion_xyzw": [ + 0.70710688829422, + -2.200249582529068e-08, + 2.1849700715392828e-08, + -0.70710688829422 + ], + "tip_position_world": [ + -0.005229997064570618, + 0.03766124311571836, + 0.08970365300887596 + ], + "tip_position_reference": [ + -0.005229997041147859, + 0.06010000035053355, + 0.03766123939224344 + ], + "geometry_min_world": [ + -0.020949998956686554, + 0.015061242813608598, + 0.08970365300547911 + ], + "geometry_max_world": [ + 0.010490004840920967, + 0.06026124341782813, + 0.15160365333302034 + ] + } + ], + "candidates_omitted": 0 + } + } + }, + "achieved_endpoint_delta": 0.022500287741422653, + "required_endpoint_delta": 2.500000037252903e-06, + "aperture_change_tolerance_m": 5.0000000745058064e-05, + "max_opening_m": 0.05000000074505806, + "candidate_branches": { + "/World/AssetRoot/Asset/left_gripper": 0, + "/World/AssetRoot/Asset/right_gripper": 1 + }, + "candidate_branches_omitted": 0, + "pair_observations": [ + { + "body_paths": [ + "/World/AssetRoot/Asset/left_gripper", + "/World/AssetRoot/Asset/right_gripper" + ], + "lower_m": 0.03207521868481615, + "upper_m": 0.07604522292013781, + "change_m": 0.04397000423532166 + } + ], + "pair_observations_omitted": 0, + "same_branch_pairs_ignored": 0 + }, + "unit": null + }, + "detect_aperture_lower_m_dof_1": { + "value": 0.03207521868481615, + "unit": null + }, + "detect_aperture_upper_m_dof_1": { + "value": 0.07604522292013781, + "unit": null + }, + "detect_achieved_lower_dof_1": { + "value": 0.001250019297003746, + "unit": null + }, + "detect_achieved_upper_dof_1": { + "value": 0.0237503070384264, + "unit": null + }, + "detect_used_authored_grip_line": { + "value": false, + "unit": null + }, + "gripper_trial_controls": { + "value": { + "schema_version": 1, + "shape": "cube", + "configured_trial": false, + "object_size_m": 0.03500000052154064, + "object_mass_kg": 0.425, + "max_opening_m": 0.05000000074505806, + "hand_controls": {}, + "procedure_settings": { + "object_size_fraction": 0.7, + "static_friction": 2.0, + "dynamic_friction": 2.0, + "restitution": 0.0, + "payload_mass_fraction": 0.85, + "tested_mass_kg_override": null, + "open_limit_backoff_frac": 0.0, + "descent_contact_chunks": 12, + "descent_contact_max_step_m": 0.005, + "descent_contact_drop_m": 0.003, + "contact_backoff_m": null, + "heuristic_payload_kg_per_m_opening": 50.0, + "heuristic_payload_floor_kg": 0.1, + "heuristic_payload_ceiling_kg": 50.0, + "spawn_ground_clearance_m": 0.005, + "mount_height_m": 0.3, + "approach_extra_clearance_m": 0.03, + "open_close_detect_steps": 120, + "open_steps_max": 600, + "close_steps": 600, + "close_ramp_steps": 300, + "close_position_stall_eps": 0.001, + "close_stall_window": 8, + "close_engage_eps": 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": "Slider_1", + "dof_index": 1, + "role": "closure", + "open_target": 0.02500000037252903, + "closed_target": 0.0, + "close_delay_steps": 0, + "unit": "unknown_native", + "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_cube": { + "value": 0.08750000078231096, + "unit": null + }, + "approach_clearance_m_cube": { + "value": 0.06500000052154065, + "unit": null + }, + "spawn_center_z_cube": { + "value": 0.02250000026077032, + "unit": null + }, + "open_joint_actual_cube": { + "value": 0.024999994784593582, + "unit": null + }, + "open_joint_expected_cube": { + "value": 0.02500000037252903, + "unit": null + }, + "open_joint_worst_error_cube": { + "value": 5.587935447692871e-09, + "unit": null + }, + "measured_separation_after_open_cube": { + "value": 0.049999998882415235, + "unit": null + }, + "descent_total_cube": { + "value": 0.08970369231068866, + "unit": null + }, + "descent_contacted_cube": { + "value": false, + "unit": null + }, + "contact_backoff_m_cube": { + "value": 0.0, + "unit": null + }, + "grasp_depth_search_m_cube": { + "value": 0.0, + "unit": null + }, + "close_blocked_by_object_cube": { + "value": true, + "unit": null + }, + "close_joint_actual_cube_Slider_1": { + "value": 0.01594209112226963, + "unit": null + }, + "close_joint_fraction_cube": { + "value": 0.3623163646114414, + "unit": null + }, + "object_lateral_drift_after_close_cube": { + "value": 0.00031702721343247216, + "unit": null + }, + "object_z_drift_from_spawn_after_close_cube": { + "value": -0.004755496345460415, + "unit": null + }, + "grip_confirmed_contact_cube": { + "value": true, + "unit": null + }, + "grip_object_retained_cube": { + "value": true, + "unit": null + }, + "vertical_follow_dz_m_cube": { + "value": 8.946657180786133e-05, + "unit": null + }, + "horizontal_drift_m_cube": { + "value": 0.0009272803925387091, + "unit": null + }, + "pre_load_dz_m_cube": { + "value": 0.0002445504069328308, + "unit": null + }, + "shake_object_min_z_cube": { + "value": 0.1970408856868744, + "unit": null + }, + "shake_max_relative_slip_m_cube": { + "value": 8.390098810195923e-05, + "unit": null + }, + "shake_passed_cube": { + "value": true, + "unit": null + }, + "drop_pre_z_cube": { + "value": 0.21709507703781128, + "unit": null + }, + "drop_post_z_cube": { + "value": 0.017499960958957672, + "unit": null + }, + "drop_dz_cube": { + "value": 0.1995951160788536, + "unit": null + }, + "drop_passed_cube": { + "value": true, + "unit": null + }, + "winning_shape": { + "value": "cube", + "unit": null + }, + "motion_history_gripper_cube": { + "value": { + "schema_version": 1, + "name": "gripper_cube", + "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": "cube", + "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": 478, + "json": "motion_history/gripper_cube.json", + "csv": "motion_history/gripper_cube.csv" + }, + "unit": null + }, + "motion_history_gripper_probe_joint_001": { + "value": { + "schema_version": 1, + "name": "gripper_probe_joint_001", + "channels": { + "target": { + "unit": "unknown_native", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "unknown_native", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "unknown_native", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4000.0, + "damping": 40.0, + "max_force": 185.0 + }, + "dof_index": 1, + "trial_index": 0, + "trial_shape": "cube", + "trial_number": 1, + "shape": "cube", + "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_cube_joint_000": { + "value": { + "schema_version": 1, + "name": "gripper_cube_joint_000", + "channels": { + "position": { + "unit": "unknown_native", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "unknown_native", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4000.0, + "damping": 40.0, + "max_force": 185.0 + }, + "shape": "cube", + "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": 405, + "json": "motion_history/gripper_cube_joint_000.json", + "csv": "motion_history/gripper_cube_joint_000.csv" + }, + "unit": null + }, + "motion_history_gripper_cube_contacts": { + "value": { + "schema_version": 1, + "name": "gripper_cube_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": "cube", + "trial_index": 0, + "trial_number": 1, + "tip_link_paths": [ + "/World/AssetRoot/Asset/left_gripper", + "/World/AssetRoot/Asset/right_gripper" + ], + "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_cube_contacts.json", + "csv": "motion_history/gripper_cube_contacts.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "gripper_close_lift_sphere", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 40.172, + "message": "", + "metrics": { + "gripper_max_opening_m": { + "value": 0.05000000074505806, + "unit": null + }, + "gripper_max_payload_kg": { + "value": 0.5, + "unit": null + }, + "used_heuristic_payload": { + "value": false, + "unit": null + }, + "tested_object_mass_kg": { + "value": 0.25, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.952, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 29, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 136.28, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.812, + "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 + }, + "test_support_collision_suspended": { + "value": [], + "unit": null + }, + "detect_probe_evidence_1": { + "value": { + "schema_version": 1, + "trial_index": 0, + "trial_shape": "sphere", + "dof_index": 1, + "joint_name": "Slider_1", + "joint_units": "native articulation position units; see motion metadata when identity resolves", + "lower_limit": 0.0, + "upper_limit": 0.02500000037252903, + "inset_fraction": 0.05, + "original_position": 8.20444320120961e-12, + "prior_target": 0.0, + "meters_per_unit": 1.0, + "reference_path": "/World/AssetRoot/Asset/base_link", + "candidate_body_paths": [ + "/World/AssetRoot/Asset/left_gripper", + "/World/AssetRoot/Asset/right_gripper" + ], + "candidate_body_paths_omitted": 0, + "missing_geometry_paths": [], + "geometry_basis": "owned bound corners transformed by live tensor poses; not measured contacts", + "ramps": [ + { + "phase": "lower_endpoint", + "start_position": 8.20444320120961e-12, + "commanded_target": 0.0012500000186264515, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 2.5897811400979784e-07, + "achieved": 2.820585507379292e-07 + }, + { + "step": 4, + "commanded": 4.074082312485302e-06, + "achieved": 4.222538791509578e-06 + }, + { + "step": 8, + "commanded": 1.5925934263153234e-05, + "achieved": 1.623235220904462e-05 + }, + { + "step": 12, + "commanded": 3.500000849625944e-05, + "achieved": 3.5449411370791495e-05 + }, + { + "step": 16, + "commanded": 6.074074945161635e-05, + "achieved": 6.13240190432407e-05 + }, + { + "step": 20, + "commanded": 9.25926015690364e-05, + "achieved": 9.329678141511977e-05 + }, + { + "step": 24, + "commanded": 0.0001300000092883321, + "achieved": 0.00013081544602755457 + }, + { + "step": 28, + "commanded": 0.00017240741704931575, + "achieved": 0.00017331897106487304 + }, + { + "step": 32, + "commanded": 0.00021925926929179996, + "achieved": 0.00022025806538295 + }, + { + "step": 36, + "commanded": 0.000270000010455597, + "achieved": 0.00027107601636089385 + }, + { + "step": 40, + "commanded": 0.0003240740849805194, + "achieved": 0.00032521274988539517 + }, + { + "step": 44, + "commanded": 0.0003809259373063796, + "achieved": 0.0003821202553808689 + }, + { + "step": 48, + "commanded": 0.00044000001187299024, + "achieved": 0.0004412327834870666 + }, + { + "step": 52, + "commanded": 0.0005007407531201633, + "achieved": 0.0005020039970986545 + }, + { + "step": 56, + "commanded": 0.0005625926054877115, + "achieved": 0.0005638745496980846 + }, + { + "step": 60, + "commanded": 0.0006250000134154474, + "achieved": 0.0006262879469431937 + }, + { + "step": 64, + "commanded": 0.0006874074213431832, + "achieved": 0.0006886926130391657 + }, + { + "step": 68, + "commanded": 0.0007492592737107314, + "achieved": 0.0007505276007577777 + }, + { + "step": 72, + "commanded": 0.0008100000149579047, + "achieved": 0.0008112426148727536 + }, + { + "step": 76, + "commanded": 0.000869074089524515, + "achieved": 0.000870274321641773 + }, + { + "step": 80, + "commanded": 0.0009259259418503752, + "achieved": 0.0009270786540582776 + }, + { + "step": 84, + "commanded": 0.0009800000163752976, + "achieved": 0.0009810904739424586 + }, + { + "step": 88, + "commanded": 0.0010307407575390946, + "achieved": 0.0010317559354007244 + }, + { + "step": 92, + "commanded": 0.001077592609781579, + "achieved": 0.0010785239282995462 + }, + { + "step": 96, + "commanded": 0.0011200000175425628, + "achieved": 0.0011208337964490056 + }, + { + "step": 100, + "commanded": 0.0011574074252618586, + "achieved": 0.0011581346625462174 + }, + { + "step": 104, + "commanded": 0.0011892592773792784, + "achieved": 0.001189866685308516 + }, + { + "step": 108, + "commanded": 0.0012150000183346352, + "achieved": 0.0012154773576185107 + }, + { + "step": 112, + "commanded": 0.0012340740925677416, + "achieved": 0.0012344090500846505 + }, + { + "step": 116, + "commanded": 0.0012459259445184094, + "achieved": 0.001246108440682292 + }, + { + "step": 120, + "commanded": 0.0012500000186264515, + "achieved": 0.001250019297003746 + } + ], + "samples_omitted": 89, + "last_commanded_position": 0.0012500000186264515, + "last_achieved_position": 0.001250019297003746 + }, + { + "phase": "upper_endpoint", + "start_position": 0.001250019297003746, + "commanded_target": 0.023750000353902578, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 0.0012546807514125249, + "achieved": 0.001255106646567583 + }, + { + "step": 4, + "commanded": 0.0013233525685966015, + "achieved": 0.0013260530540719628 + }, + { + "step": 8, + "commanded": 0.001536685722321272, + "achieved": 0.0015421921852976084 + }, + { + "step": 12, + "commanded": 0.0018800187665969133, + "achieved": 0.0018881232244893909 + }, + { + "step": 16, + "commanded": 0.0023433517098426816, + "achieved": 0.0023538481909781694 + }, + { + "step": 20, + "commanded": 0.002916684560477734, + "achieved": 0.002929368522018194 + }, + { + "step": 24, + "commanded": 0.003590017326921225, + "achieved": 0.0036046828608959913 + }, + { + "step": 28, + "commanded": 0.00435335001759231, + "achieved": 0.004369786009192467 + }, + { + "step": 32, + "commanded": 0.005196682640910149, + "achieved": 0.005214688368141651 + }, + { + "step": 36, + "commanded": 0.006110015205293894, + "achieved": 0.006129383109509945 + }, + { + "step": 40, + "commanded": 0.007083347719162702, + "achieved": 0.007103868760168552 + }, + { + "step": 44, + "commanded": 0.00810668019093573, + "achieved": 0.008128149434924126 + }, + { + "step": 48, + "commanded": 0.009170012629032137, + "achieved": 0.009192226454615593 + }, + { + "step": 52, + "commanded": 0.010263345041871071, + "achieved": 0.010286091826856136 + }, + { + "step": 56, + "commanded": 0.011376677437871694, + "achieved": 0.01139975618571043 + }, + { + "step": 60, + "commanded": 0.012500009825453162, + "achieved": 0.01252321433275938 + }, + { + "step": 64, + "commanded": 0.01362334221303463, + "achieved": 0.013646462000906467 + }, + { + "step": 68, + "commanded": 0.014736674609035253, + "achieved": 0.01475951075553894 + }, + { + "step": 72, + "commanded": 0.01583000702187419, + "achieved": 0.015852347016334534 + }, + { + "step": 76, + "commanded": 0.016893339459970593, + "achieved": 0.01691497676074505 + }, + { + "step": 80, + "commanded": 0.017916671931743622, + "achieved": 0.01793740689754486 + }, + { + "step": 84, + "commanded": 0.018890004445612427, + "achieved": 0.018909620121121407 + }, + { + "step": 88, + "commanded": 0.019803337009996175, + "achieved": 0.019821632653474808 + }, + { + "step": 92, + "commanded": 0.020646669633314015, + "achieved": 0.020663436502218246 + }, + { + "step": 96, + "commanded": 0.021410002323985104, + "achieved": 0.02142503298819065 + }, + { + "step": 100, + "commanded": 0.022083335090428594, + "achieved": 0.0220964252948761 + }, + { + "step": 104, + "commanded": 0.022656667941063642, + "achieved": 0.022667620331048965 + }, + { + "step": 108, + "commanded": 0.02312000088430941, + "achieved": 0.023128602653741837 + }, + { + "step": 112, + "commanded": 0.023463333928585052, + "achieved": 0.02346937730908394 + }, + { + "step": 116, + "commanded": 0.02367666708230972, + "achieved": 0.0236799493432045 + }, + { + "step": 120, + "commanded": 0.023750000353902578, + "achieved": 0.0237503070384264 + } + ], + "samples_omitted": 89, + "last_commanded_position": 0.023750000353902578, + "last_achieved_position": 0.0237503070384264 + }, + { + "phase": "restore", + "start_position": 0.0237503070384264, + "commanded_target": 8.20444320120961e-12, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 0.02374538654657639, + "achieved": 0.02374492958188057 + }, + { + "step": 4, + "commanded": 0.0236728986303279, + "achieved": 0.023670053109526634 + }, + { + "step": 8, + "commanded": 0.02344771053404135, + "achieved": 0.023441903293132782 + }, + { + "step": 12, + "commanded": 0.023085298441580183, + "achieved": 0.0230767410248518 + }, + { + "step": 16, + "commanded": 0.022596218044957837, + "achieved": 0.02258513867855072 + }, + { + "step": 20, + "commanded": 0.021991025036187738, + "achieved": 0.021977636963129044 + }, + { + "step": 24, + "commanded": 0.021280275107283315, + "achieved": 0.02126479707658291 + }, + { + "step": 28, + "commanded": 0.02047452395025801, + "achieved": 0.02045717090368271 + }, + { + "step": 32, + "commanded": 0.019584327257125243, + "achieved": 0.019565321505069733 + }, + { + "step": 36, + "commanded": 0.018620240719898457, + "achieved": 0.018599802628159523 + }, + { + "step": 40, + "commanded": 0.017592820030591077, + "achieved": 0.017571156844496727 + }, + { + "step": 44, + "commanded": 0.01651262088121654, + "achieved": 0.01648995652794838 + }, + { + "step": 48, + "commanded": 0.015390198963788269, + "achieved": 0.015366751700639725 + }, + { + "step": 52, + "commanded": 0.014236109970319707, + "achieved": 0.014212096109986305 + }, + { + "step": 56, + "commanded": 0.01306090959282428, + "achieved": 0.013036547228693962 + }, + { + "step": 60, + "commanded": 0.011875153523315422, + "achieved": 0.011850657872855663 + }, + { + "step": 64, + "commanded": 0.010689397453806563, + "achieved": 0.010664990171790123 + }, + { + "step": 68, + "commanded": 0.009514197076311137, + "achieved": 0.009490094147622585 + }, + { + "step": 72, + "commanded": 0.008360108082842571, + "achieved": 0.00833652913570404 + }, + { + "step": 76, + "commanded": 0.007237686165414304, + "achieved": 0.007214846555143595 + }, + { + "step": 80, + "commanded": 0.006157487016039766, + "achieved": 0.0061356062069535255 + }, + { + "step": 84, + "commanded": 0.005130066326732387, + "achieved": 0.005109359044581652 + }, + { + "step": 88, + "commanded": 0.0041659797895056, + "achieved": 0.004146667197346687 + }, + { + "step": 92, + "commanded": 0.003275783096372834, + "achieved": 0.0032580820843577385 + }, + { + "step": 96, + "commanded": 0.0024700319393475244, + "achieved": 0.002454159315675497 + }, + { + "step": 100, + "commanded": 0.0017592820104431056, + "achieved": 0.0017454574117437005 + }, + { + "step": 104, + "commanded": 0.001154089001673006, + "achieved": 0.0011425286065787077 + }, + { + "step": 108, + "commanded": 0.0006650086050506605, + "achieved": 0.0006559285102412105 + }, + { + "step": 112, + "commanded": 0.0003025965125894939, + "achieved": 0.00029621468274854124 + }, + { + "step": 116, + "commanded": 7.740841630294454e-05, + "achieved": 7.394564454443753e-05 + }, + { + "step": 120, + "commanded": 8.204444068571348e-12, + "achieved": -1.0466421063171083e-09 + } + ], + "samples_omitted": 89, + "last_commanded_position": 8.204444068571348e-12, + "last_achieved_position": -1.0466421063171083e-09 + } + ], + "endpoints": { + "lower": { + "commanded": 0.0012500000186264515, + "achieved": 0.001250019297003746, + "geometry": { + "coordinate_basis": "world and gripper-base-relative stage lengths; geometry proxies, not contacts", + "reference_path": "/World/AssetRoot/Asset/base_link", + "reference_position_world": [ + -2.3490542844228912e-11, + 3.723471309058368e-09, + 0.14980365335941315 + ], + "reference_quaternion_xyzw": [ + 0.7071068286895752, + 0.0, + 4.902744876744691e-13, + -0.7071068286895752 + ], + "candidate_count": 2, + "candidates": [ + { + "body_path": "/World/AssetRoot/Asset/left_gripper", + "body_position_world": [ + 1.3969838619232178e-09, + -0.0012500137090682983, + 0.14980365335941315 + ], + "body_quaternion_xyzw": [ + 0.70710688829422, + -2.3166649043560028e-08, + 2.277130128902627e-08, + -0.70710688829422 + ], + "tip_position_world": [ + 0.005230000702238844, + -0.01516086784540127, + 0.0897036530048217 + ], + "tip_position_reference": [ + 0.0052300007256982275, + 0.06010000035459507, + -0.01516087156886894 + ], + "geometry_min_world": [ + -0.01049000125654032, + -0.03776086819388033, + 0.08970365299603256 + ], + "geometry_max_world": [ + 0.02095000269562667, + 0.00743913250307778, + 0.15160365333435835 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_gripper", + "body_position_world": [ + -2.7939677238464355e-09, + 0.001250019297003746, + 0.14980363845825195 + ], + "body_quaternion_xyzw": [ + 0.70710688829422, + -2.200249582529068e-08, + 2.1849700715392828e-08, + -0.70710688829422 + ], + "tip_position_world": [ + -0.0052300021868447785, + 0.01516087341790914, + 0.08970363810771477 + ], + "tip_position_reference": [ + -0.005230002163406418, + 0.06010001525169475, + 0.015160869694434219 + ], + "geometry_min_world": [ + -0.020950004078960714, + -0.0074391268842006215, + 0.08970363810431792 + ], + "geometry_max_world": [ + 0.010489999718646807, + 0.03776087372001891, + 0.15160363843185914 + ] + } + ], + "candidates_omitted": 0 + } + }, + "upper": { + "commanded": 0.023750000353902578, + "achieved": 0.0237503070384264, + "geometry": { + "coordinate_basis": "world and gripper-base-relative stage lengths; geometry proxies, not contacts", + "reference_path": "/World/AssetRoot/Asset/base_link", + "reference_position_world": [ + -2.3490542844228912e-11, + 3.723471309058368e-09, + 0.14980365335941315 + ], + "reference_quaternion_xyzw": [ + 0.7071068286895752, + 0.0, + 4.902744876744691e-13, + -0.7071068286895752 + ], + "candidate_count": 2, + "candidates": [ + { + "body_path": "/World/AssetRoot/Asset/left_gripper", + "body_position_world": [ + 4.6566128730773926e-09, + -0.02375030517578125, + 0.14980365335941315 + ], + "body_quaternion_xyzw": [ + 0.70710688829422, + -2.3166649043560028e-08, + 2.277130128902627e-08, + -0.70710688829422 + ], + "tip_position_world": [ + 0.005230003961867855, + -0.03766115931211422, + 0.0897036530048217 + ], + "tip_position_reference": [ + 0.00523000398534284, + 0.060100000354595076, + -0.03766116303558189 + ], + "geometry_min_world": [ + -0.01048999799691131, + -0.06026115966059328, + 0.08970365299603256 + ], + "geometry_max_world": [ + 0.02095000595525568, + -0.015061158963635171, + 0.15160365333435835 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/right_gripper", + "body_position_world": [ + 2.3283064365386963e-09, + 0.023750388994812965, + 0.14980365335941315 + ], + "body_quaternion_xyzw": [ + 0.70710688829422, + -2.200249582529068e-08, + 2.1849700715392828e-08, + -0.70710688829422 + ], + "tip_position_world": [ + -0.005229997064570618, + 0.03766124311571836, + 0.08970365300887596 + ], + "tip_position_reference": [ + -0.005229997041147859, + 0.06010000035053355, + 0.03766123939224344 + ], + "geometry_min_world": [ + -0.020949998956686554, + 0.015061242813608598, + 0.08970365300547911 + ], + "geometry_max_world": [ + 0.010490004840920967, + 0.06026124341782813, + 0.15160365333302034 + ] + } + ], + "candidates_omitted": 0 + } + } + }, + "achieved_endpoint_delta": 0.022500287741422653, + "required_endpoint_delta": 2.500000037252903e-06, + "aperture_change_tolerance_m": 5.0000000745058064e-05, + "max_opening_m": 0.05000000074505806, + "candidate_branches": { + "/World/AssetRoot/Asset/left_gripper": 0, + "/World/AssetRoot/Asset/right_gripper": 1 + }, + "candidate_branches_omitted": 0, + "pair_observations": [ + { + "body_paths": [ + "/World/AssetRoot/Asset/left_gripper", + "/World/AssetRoot/Asset/right_gripper" + ], + "lower_m": 0.03207521868481615, + "upper_m": 0.07604522292013781, + "change_m": 0.04397000423532166 + } + ], + "pair_observations_omitted": 0, + "same_branch_pairs_ignored": 0 + }, + "unit": null + }, + "detect_aperture_lower_m_dof_1": { + "value": 0.03207521868481615, + "unit": null + }, + "detect_aperture_upper_m_dof_1": { + "value": 0.07604522292013781, + "unit": null + }, + "detect_achieved_lower_dof_1": { + "value": 0.001250019297003746, + "unit": null + }, + "detect_achieved_upper_dof_1": { + "value": 0.0237503070384264, + "unit": null + }, + "detect_used_authored_grip_line": { + "value": false, + "unit": null + }, + "gripper_trial_controls": { + "value": { + "schema_version": 1, + "shape": "sphere", + "configured_trial": false, + "object_size_m": 0.03500000052154064, + "object_mass_kg": 0.25, + "max_opening_m": 0.05000000074505806, + "hand_controls": {}, + "procedure_settings": { + "object_size_fraction": 0.7, + "static_friction": 2.0, + "dynamic_friction": 2.0, + "restitution": 0.0, + "payload_mass_fraction": 0.5, + "tested_mass_kg_override": null, + "open_limit_backoff_frac": 0.0, + "descent_contact_chunks": 12, + "descent_contact_max_step_m": 0.005, + "descent_contact_drop_m": 0.003, + "contact_backoff_m": null, + "heuristic_payload_kg_per_m_opening": 50.0, + "heuristic_payload_floor_kg": 0.1, + "heuristic_payload_ceiling_kg": 50.0, + "spawn_ground_clearance_m": 0.005, + "mount_height_m": 0.3, + "approach_extra_clearance_m": 0.03, + "open_close_detect_steps": 120, + "open_steps_max": 600, + "close_steps": 600, + "close_ramp_steps": 300, + "close_position_stall_eps": 0.001, + "close_stall_window": 8, + "close_engage_eps": 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": "Slider_1", + "dof_index": 1, + "role": "closure", + "open_target": 0.02500000037252903, + "closed_target": 0.0, + "close_delay_steps": 0, + "unit": "unknown_native", + "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": 0.08750000078231096, + "unit": null + }, + "approach_clearance_m_sphere": { + "value": 0.06500000052154065, + "unit": null + }, + "spawn_center_z_sphere": { + "value": 0.02250000026077032, + "unit": null + }, + "open_joint_actual_sphere": { + "value": 0.024999994784593582, + "unit": null + }, + "open_joint_expected_sphere": { + "value": 0.02500000037252903, + "unit": null + }, + "open_joint_worst_error_sphere": { + "value": 5.587935447692871e-09, + "unit": null + }, + "measured_separation_after_open_sphere": { + "value": 0.049999998882415235, + "unit": null + }, + "descent_total_sphere": { + "value": 0.08970364015662448, + "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_Slider_1": { + "value": 0.010094551369547844, + "unit": null + }, + "close_joint_fraction_sphere": { + "value": 0.5962179512349076, + "unit": null + }, + "object_lateral_drift_after_close_sphere": { + "value": 7.450580596923828e-09, + "unit": null + }, + "object_z_drift_from_spawn_after_close_sphere": { + "value": -0.005000002048909664, + "unit": null + }, + "grip_confirmed_contact_sphere": { + "value": true, + "unit": null + }, + "grip_object_retained_sphere": { + "value": true, + "unit": null + }, + "vertical_follow_dz_m_sphere": { + "value": 0.0009124279022216797, + "unit": null + }, + "horizontal_drift_m_sphere": { + "value": 0.0011956412276205915, + "unit": null + }, + "pre_load_dz_m_sphere": { + "value": 0.0, + "unit": null + }, + "shake_object_min_z_sphere": { + "value": 0.1930793970823288, + "unit": null + }, + "shake_max_relative_slip_m_sphere": { + "value": 0.0034673884510993958, + "unit": null + }, + "shake_passed_sphere": { + "value": true, + "unit": null + }, + "drop_pre_z_sphere": { + "value": 0.21312293410301208, + "unit": null + }, + "drop_post_z_sphere": { + "value": 0.017499998211860657, + "unit": null + }, + "drop_dz_sphere": { + "value": 0.19562293589115143, + "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": 480, + "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": "unknown_native", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "unknown_native", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "unknown_native", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4000.0, + "damping": 40.0, + "max_force": 185.0 + }, + "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": "unknown_native", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "unknown_native", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4000.0, + "damping": 40.0, + "max_force": 185.0 + }, + "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": 407, + "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_gripper", + "/World/AssetRoot/Asset/right_gripper" + ], + "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": [] + }, + { + "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": 406.344, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 35.422, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 787.16, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.203, + "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_Slider_1_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_Slider_1_trans_pct": { + "value": 30.18, + "unit": null + }, + "jm_joint_Slider_1_bbox_m": { + "value": 0.0828, + "unit": null + }, + "jm_joint_Slider_1_translation_stage_units": { + "value": 0.02500039339065623, + "unit": null + }, + "jm_joint_Slider_1_bbox_diagonal_stage_units": { + "value": 0.0828439752175551, + "unit": null + }, + "jm_joint_Slider_1_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Slider_1_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_Slider_1_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_Slider_1_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Slider_1_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_Slider_1_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_Slider_1_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_Slider_2_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_Slider_2_trans_pct": { + "value": 30.18, + "unit": null + }, + "jm_joint_Slider_2_bbox_m": { + "value": 0.0828, + "unit": null + }, + "jm_joint_Slider_2_translation_stage_units": { + "value": 0.02500039339065677, + "unit": null + }, + "jm_joint_Slider_2_bbox_diagonal_stage_units": { + "value": 0.08284397504832558, + "unit": null + }, + "jm_joint_Slider_2_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Slider_2_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_Slider_2_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_Slider_2_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Slider_2_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_Slider_2_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_Slider_2_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joints_total": { + "value": 2, + "unit": null + }, + "jm_joints_passed": { + "value": 2, + "unit": null + }, + "jm_joints_failed": { + "value": 0, + "unit": null + }, + "jm_joint_Slider_1_status": { + "value": "passed", + "unit": null + }, + "jm_joint_Slider_2_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" + }, + "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": "Slider_1", + "authored_joint_name": "Slider_1", + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "child_body_path": "/World/AssetRoot/Asset/left_gripper", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "phase": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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": "Slider_2", + "authored_joint_name": "Slider_2", + "prim_path": "/World/AssetRoot/Asset/Slider_2", + "child_body_path": "/World/AssetRoot/Asset/right_gripper", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "phase": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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": "Slider_1", + "authored_joint_name": "Slider_1", + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "child_body_path": "/World/AssetRoot/Asset/left_gripper", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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": "Slider_2", + "authored_joint_name": "Slider_2", + "prim_path": "/World/AssetRoot/Asset/Slider_2", + "child_body_path": "/World/AssetRoot/Asset/right_gripper", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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 + } + }, + "kit_logs": [] + }, + { + "test_name": "joint_movement_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 84.657, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.799, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 217.76, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 4.156, + "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_Slider_1_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_Slider_1_trans_pct": { + "value": 30.08, + "unit": null + }, + "jm_joint_Slider_1_bbox_m": { + "value": 0.0828, + "unit": null + }, + "jm_joint_Slider_1_translation_stage_units": { + "value": 0.02491849660873413, + "unit": null + }, + "jm_joint_Slider_1_bbox_diagonal_stage_units": { + "value": 0.08284397129399139, + "unit": null + }, + "jm_joint_Slider_1_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Slider_1_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_Slider_1_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_Slider_1_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Slider_1_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_Slider_1_pct_of_travel": { + "value": 99.6, + "unit": null + }, + "jm_joint_Slider_1_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_Slider_2_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_Slider_2_trans_pct": { + "value": 30.11, + "unit": null + }, + "jm_joint_Slider_2_bbox_m": { + "value": 0.0828, + "unit": null + }, + "jm_joint_Slider_2_translation_stage_units": { + "value": 0.024940937757492065, + "unit": null + }, + "jm_joint_Slider_2_bbox_diagonal_stage_units": { + "value": 0.08284397129399139, + "unit": null + }, + "jm_joint_Slider_2_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Slider_2_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_Slider_2_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_Slider_2_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Slider_2_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_Slider_2_pct_of_travel": { + "value": 99.6, + "unit": null + }, + "jm_joint_Slider_2_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joints_total": { + "value": 2, + "unit": null + }, + "jm_joints_passed": { + "value": 2, + "unit": null + }, + "jm_joints_failed": { + "value": 0, + "unit": null + }, + "jm_joint_Slider_1_status": { + "value": "passed", + "unit": null + }, + "jm_joint_Slider_2_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" + }, + "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": "Slider_1", + "authored_joint_name": "Slider_1", + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "child_body_path": "/World/AssetRoot/Asset/left_gripper", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "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_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": "Slider_2", + "authored_joint_name": "Slider_2", + "prim_path": "/World/AssetRoot/Asset/Slider_2", + "child_body_path": "/World/AssetRoot/Asset/right_gripper", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "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 + } + }, + "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": 71.719, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 36.282, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1209.4, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.656, + "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": 1.0, + "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": 29, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.836818, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.052917, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 71.719, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 36.282, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1209.4, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.656, + "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": 1.0, + "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": 29, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.836818, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.052917, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 54.859, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.062, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1812.4, + "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": 5, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 5, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 5, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 5, + "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": 23, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 47796, + "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": 54.859, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.062, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1812.4, + "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": 5, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 5, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 5, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 5, + "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": 23, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 47796, + "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": 23.844, + "message": "", + "metrics": { + "mim_mimic_pairs_detected": { + "value": 1, + "unit": null + }, + "mim_skipped_pairs": { + "value": 0, + "unit": null + }, + "mimic_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.43903946173342545, + "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": 4.453, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 4, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1113.25, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.578, + "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 + }, + "mim_pair_Slider_2_max_error_rad": { + "value": 5.277060874586681e-05, + "unit": null + }, + "mim_pair_Slider_2_mean_error_rad": { + "value": 2.697150109069272e-06, + "unit": null + }, + "mim_pair_Slider_2_ref_swept_rad": { + "value": 0.01990050752647221, + "unit": null + }, + "mim_pair_Slider_2_follower_observed_rad": { + "value": 0.019900918705388904, + "unit": null + }, + "mim_pair_Slider_2_follower_expected_rad": { + "value": 0.01990050752647221, + "unit": null + }, + "mim_pair_Slider_2_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_Slider_2_motion_ratio": { + "value": 1.0000206617301668, + "unit": null + }, + "mim_pair_Slider_2_gear_ratio_error": { + "value": 2.066173016679329e-05, + "unit": null + }, + "mim_pair_Slider_2_abs_formula_max_error_rad": { + "value": 5.193985998630524e-05, + "unit": null + }, + "mim_pair_Slider_2_rest_residual_rad": { + "value": 8.307487595615726e-07, + "unit": null + }, + "mim_pairs_passed": { + "value": 1, + "unit": null + }, + "mim_pairs_failed": { + "value": 0, + "unit": null + }, + "motion_history_mim_reference_001": { + "value": { + "schema_version": 1, + "name": "mim_reference_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "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": "Slider_1", + "follower_joint_name": "Slider_2", + "gearing": -1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "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": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4000.0, + "damping": 40.0, + "max_force": 185.0 + } + }, + "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_001.json", + "csv": "motion_history/mim_reference_001.csv" + }, + "unit": null + }, + "motion_history_mim_follower_001": { + "value": { + "schema_version": 1, + "name": "mim_follower_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "unknown_native", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "unknown_native", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "unknown_native", + "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": "Slider_1", + "follower_joint_name": "Slider_2", + "gearing": -1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "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": "Slider_2", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_2", + "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 + } + }, + "kit_logs": [] + }, + { + "test_name": "mimic_joint_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 15.672, + "message": "", + "metrics": { + "mim_mimic_pairs_detected": { + "value": 1, + "unit": null + }, + "mim_skipped_pairs": { + "value": 0, + "unit": null + }, + "mimic_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.4390394617334254, + "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": 0.624, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 4, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 156.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.485, + "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 + }, + "mim_pair_Slider_2_max_error_rad": { + "value": 1.8512322023545025e-05, + "unit": null + }, + "mim_pair_Slider_2_mean_error_rad": { + "value": 3.3918977364137217e-06, + "unit": null + }, + "mim_pair_Slider_2_ref_swept_rad": { + "value": 0.02249425312038511, + "unit": null + }, + "mim_pair_Slider_2_follower_observed_rad": { + "value": 0.02248730493738549, + "unit": null + }, + "mim_pair_Slider_2_follower_expected_rad": { + "value": 0.02249425312038511, + "unit": null + }, + "mim_pair_Slider_2_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_Slider_2_motion_ratio": { + "value": 0.999691112971725, + "unit": null + }, + "mim_pair_Slider_2_gear_ratio_error": { + "value": 0.0003088870282750289, + "unit": null + }, + "mim_pair_Slider_2_abs_formula_max_error_rad": { + "value": 1.684902235865593e-05, + "unit": null + }, + "mim_pair_Slider_2_rest_residual_rad": { + "value": 1.6632996648890952e-06, + "unit": null + }, + "mim_pairs_passed": { + "value": 1, + "unit": null + }, + "mim_pairs_failed": { + "value": 0, + "unit": null + }, + "motion_history_mim_reference_001": { + "value": { + "schema_version": 1, + "name": "mim_reference_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "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": "Slider_1", + "follower_joint_name": "Slider_2", + "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": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 45000.0, + "damping": 0.0, + "max_force": 185.0 + } + }, + "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_001.json", + "csv": "motion_history/mim_reference_001.csv" + }, + "unit": null + }, + "motion_history_mim_follower_001": { + "value": { + "schema_version": 1, + "name": "mim_follower_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "unknown_native", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "unknown_native", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "unknown_native", + "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": "Slider_1", + "follower_joint_name": "Slider_2", + "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": "Slider_2", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_2", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.0, + "damping": 0.0, + "max_force": 185.0 + } + }, + "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_001.json", + "csv": "motion_history/mim_follower_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "multi_joint_coordination", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 1.047, + "message": "MJC: asset has only 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\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": 2, + "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 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\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": 6.235, + "message": "MJC: asset has only 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\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": 2, + "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 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\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": 9.047, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.656, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 332.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.484, + "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": 0.00027, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.000825, + "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": 9.047, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.656, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 332.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.484, + "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": 0.00027, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.000825, + "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": 52.672, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 10.531, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 2106.2, + "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": 5, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 5, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 5, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 5, + "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": 23, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 47510, + "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": 52.672, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 10.531, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 2106.2, + "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": 5, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 5, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 5, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 5, + "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": 23, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 47510, + "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": 150.219, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 30.609, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1530.45, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.688, + "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": -150.0, + "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": 150.219, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 30.609, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1530.45, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.688, + "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": -150.0, + "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": 24.812, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.968, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1984.0, + "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": 0.208381, + "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": 24.812, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.968, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1984.0, + "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": 0.208381, + "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": 46.204, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.611, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 922.2, + "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 + }, + "universal_surface_materials_with_universal": { + "value": 5, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 5, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 5, + "unit": null + }, + "universal_surface_materials_total": { + "value": 5, + "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": 23, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 47371, + "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": 46.204, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.611, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 922.2, + "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 + }, + "universal_surface_materials_with_universal": { + "value": 5, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 5, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 5, + "unit": null + }, + "universal_surface_materials_total": { + "value": 5, + "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": 23, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 47371, + "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": 9.171, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 1, + "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": 0.43903946173342545, + "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": 0.64, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 10, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 64.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.656, + "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": 0.002765060679219497, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "unknown_native", + "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": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4000.0, + "damping": 40.0, + "max_force": 185.0 + } + }, + "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": 21.984, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 1, + "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": 0.4390394617334254, + "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": 0.984, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 10, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 98.4, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.687, + "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": 0.0013601601360566419, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "unknown_native", + "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": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 45000.0, + "damping": 0.0, + "max_force": 185.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 170, + "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": 4.454, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 1, + "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": 0.43903946173342545, + "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": 0.703, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 703.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.437, + "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": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "unknown_native/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "unknown_native/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": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4000.0, + "damping": 40.0, + "max_force": 185.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 7, + "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": 6.344, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 1, + "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": 0.4390394617334254, + "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": 0.359, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 359.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.781, + "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": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "unknown_native/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "unknown_native/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": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 45000.0, + "damping": 0.0, + "max_force": 185.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 20, + "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_hand_e_robotiq_hand_e_base/.metadata/robotiq_hand_e_robotiq_hand_e_base_validation.json b/robotiq_hand_e_robotiq_hand_e_base/.metadata/robotiq_hand_e_robotiq_hand_e_base_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..4a686e43cc52168ff3e9a23131d3b4676b65e02f --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/.metadata/robotiq_hand_e_robotiq_hand_e_base_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/Robotiq_Hand_E_base.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_hand_e_robotiq_hand_e_base/.thumbs/256x256/Robotiq_Hand_E_base.usda.png b/robotiq_hand_e_robotiq_hand_e_base/.thumbs/256x256/Robotiq_Hand_E_base.usda.png new file mode 100644 index 0000000000000000000000000000000000000000..f5090ac4f07effc1541afdceb481d456690fb1d3 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/.thumbs/256x256/Robotiq_Hand_E_base.usda.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5335ad10d9c597da127c50bf962c60a9cc4b65cd5002ce02bee7b2045441a51f +size 48309 diff --git a/robotiq_hand_e_robotiq_hand_e_base/Robotiq_Hand_E_base.usda b/robotiq_hand_e_robotiq_hand_e_base/Robotiq_Hand_E_base.usda new file mode 100644 index 0000000000000000000000000000000000000000..29e258aad7a597516a7a0fc56154ddc592c26346 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/Robotiq_Hand_E_base.usda @@ -0,0 +1,1825 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/RobotIq_Hand_E_base" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/RobotIq_Hand_E_base" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/RobotIq_Hand_E_base" + string variantSetName = "PhysX" + } + } + } + string[] revision_of = [ + "simready.hf.Robotiq-Official.simready-assets.Robotiq_Hand_E.2026.10.13_00", + "simready.hf.Robotiq-Official.simready-assets.Robotiq_Hand_E.2026.10.22_00", + "simready.hf.Robotiq-Official.simready-assets.Robotiq_Hand_E.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" + } + } + } + } + } + float3 asset_extents = (0.075, 0.1511, 0.075) + string asset_license = "CC-BY-4.0" + string asset_name = "Robotiq_Hand_E_base" + string asset_type = "robot" + string author = "Robotiq" + string category = "robot end effector" + double mass = 0.9344182908535004 + string qcode = "Q1340324" + int rigid_body_count = 3 + string source_file = "Robotiq/Hand-E/Robotiq_Hand_E_base/Robotiq_Hand_E_base.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "RobotIq_Hand_E_base" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Xform "RobotIq_Hand_E_base" ( + 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"] +) +{ + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "base_link" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_1" + { + } + } + } + + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_2" + { + } + } + } + + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_03" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_3" + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_04" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_4" + { + } + } + } + + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_05" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_5" + { + } + } + } + + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + } + + over "left_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" + { + } + } + } + } + + over "right_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" + { + } + } + } + } + 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_hand_e_robotiq_hand_e_base/com.nvidia.simready.packaging.json b/robotiq_hand_e_robotiq_hand_e_base/com.nvidia.simready.packaging.json new file mode 100644 index 0000000000000000000000000000000000000000..3258593349d4fdb60b1dd1480317f1f28e50c382 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/com.nvidia.simready.packaging.json @@ -0,0 +1,49 @@ +{ + "format_version": "1.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.robotiq_hand_e_robotiq_hand_e_base.1.0.0", + "license": "CC-BY-4.0", + "metadata": [ + { + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "hash": { + "sha256": "cb21049b27f28aedb838408da6fef35483d67f2bd223a2f67952b65305544c36" + } + }, + { + "name": "com.nvidia.simready.packaging.bom.json", + "hash": { + "sha256": "46579719745fec0c5197427a4dd482025749fb7625c90b3070b1a95a474d755b" + } + }, + { + "name": "com.nvidia.simready.root_usds.json", + "hash": { + "sha256": "3d733489877b998e5f346ccfe16a34cc7ad2c2b143943a415a153a3f0b639783" + } + }, + { + "name": "license.txt", + "hash": { + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + } + }, + { + "name": "robotiq_hand_e_robotiq_hand_e_base_benchmark.json", + "hash": { + "sha256": "7756199b2c5b5c803b4ae527806a2b61179ca216ab2db9fe6b453decdc397420" + } + }, + { + "name": "robotiq_hand_e_robotiq_hand_e_base_validation.json", + "hash": { + "sha256": "e3bbc38fa2153eee500e2cdd7b7196fedfed38b8a454899e5fd26c2624bb24af" + } + } + ], + "content_hash": { + "sha256": "ef17954c417b4915bba4a88c901ea837651c25a341b60643e6f685d5e826383d" + }, + "package_hash": { + "sha256": "c61ca81eb9b6057a27ac2f033acc72422ca74f0be382eb3810ffaf0da2402527" + } +} diff --git a/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/OmniPBR.mdl b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/OmniPBR.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bcd0685466a09006ac9e009969d32de43d6d04d9 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/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_hand_e_robotiq_hand_e_base/materials/mdl/OmniPBRBase.mdl b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/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_hand_e_robotiq_hand_e_base/materials/mdl/OmniPBR_ClearCoat.mdl b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/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_hand_e_robotiq_hand_e_base/materials/mdl/aux_definitions.mdl b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/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/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/core_definitions.mdl b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/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/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/license.txt b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/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/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/support_definitions.mdl b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/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/robotiq_hand_e_robotiq_hand_e_base/payloads/Physics/mujoco.usda b/robotiq_hand_e_robotiq_hand_e_base/payloads/Physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..f44cfb6e830ec3cd55620479ce6ebe4229ee4ae6 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/payloads/Physics/mujoco.usda @@ -0,0 +1,368 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "RobotIq_Hand_E_base" +{ + over "base_link" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "Looks" + { + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_1" ( + ) + { + } + } + } + + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "Looks" + { + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_2" ( + ) + { + } + } + } + + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_03" + { + over "Looks" + { + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_3" ( + ) + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_04" + { + over "Looks" + { + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_4" ( + ) + { + } + } + } + + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_05" + { + over "Looks" + { + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_5" ( + ) + { + } + } + } + + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + } + + over "Slider_1" ( + delete apiSchemas = ["PhysicsJointStateAPI:linear"] + ) + { + } + + over "Slider_2" ( + delete apiSchemas = ["PhysicsJointStateAPI:linear"] + ) + { + } + + over "left_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "Looks" + { + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" ( + ) + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "Looks" + { + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" ( + ) + { + } + } + } + } + + over "right_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" ( + ) + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "Looks" + { + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" ( + ) + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "Looks" + { + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" ( + ) + { + } + } + } + } + + over "VisualMaterials" + { + } +} + diff --git a/robotiq_hand_e_robotiq_hand_e_base/payloads/Physics/physics.usda b/robotiq_hand_e_robotiq_hand_e_base/payloads/Physics/physics.usda new file mode 100644 index 0000000000000000000000000000000000000000..4511f7a47210e5c7b0783dcecd62e06ddaf1a820 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/payloads/Physics/physics.usda @@ -0,0 +1,470 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "RobotIq_Hand_E_base" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "RobotIq_Hand_E_base" ( + prepend apiSchemas = ["PhysicsArticulationRootAPI"] +) +{ + over "base_link" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.85817784 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } + ) + + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.016, -0.0663, 0.027) + float3 physics:diagonalInertia = (2.6222209e-9, 2.6222213e-9, 5.1812314e-9) + float physics:mass = 0.00037840483 + quatf physics:principalAxes = (0.5000001, 0.5000001, 0.4999999, -0.4999999) + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + } + } + } + + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.016, -0.07357015, -0.027) + float3 physics:diagonalInertia = (5.1861488e-8, 5.775649e-7, 5.775649e-7) + float physics:mass = 0.005875234 + quatf physics:principalAxes = (0.45801094, 0.5387263, 0.5387263, 0.45801094) + } + } + } + + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.016, -0.0663, 0.027) + float3 physics:diagonalInertia = (2.6222209e-9, 2.6222213e-9, 5.1812314e-9) + float physics:mass = 0.00037840483 + quatf physics:principalAxes = (-0.4999999, -0.4999999, -0.5000001, 0.5000001) + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.025980761, 0.0031057983, -0.015) + float3 physics:diagonalInertia = (1.6503256e-8, 1.1892183e-7, 1.1892183e-7) + float physics:mass = 0.0026941167 + quatf physics:principalAxes = (0.69328606, -0.13912012, -0.13912012, 0.69328606) + } + } + } + + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.016, -0.0663, -0.027) + float3 physics:diagonalInertia = (2.6222209e-9, 2.6222213e-9, 5.1812314e-9) + float physics:mass = 0.00037840483 + quatf physics:principalAxes = (-0.4999999, 0.4999999, 0.5000001, 0.5000001) + } + } + } + + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.016, -0.07357015, 0.027) + float3 physics:diagonalInertia = (5.1861374e-8, 5.775638e-7, 5.775638e-7) + float physics:mass = 0.005875234 + quatf physics:principalAxes = (0.48243257, 0.5169708, 0.5169708, 0.48243257) + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.025980761, 0.0031057983, 0.015) + float3 physics:diagonalInertia = (1.6503314e-8, 1.1892231e-7, 1.1892231e-7) + float physics:mass = 0.0026941167 + quatf physics:principalAxes = (0.69378746, -0.13659786, -0.13659784, 0.69378746) + } + } + } + + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.016, -0.0663, -0.027) + float3 physics:diagonalInertia = (2.6222209e-9, 2.6222213e-9, 5.1812314e-9) + float physics:mass = 0.00037840483 + quatf physics:principalAxes = (0.5000001, -0.5000001, -0.4999999, -0.4999999) + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_03" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.025980761, 0.0031057983, -0.015) + float3 physics:diagonalInertia = (1.6503037e-8, 1.18921186e-7, 1.18921186e-7) + float physics:mass = 0.0026941167 + quatf physics:principalAxes = (-0.69105643, -0.14980318, 0.14980318, 0.69105643) + } + } + } + + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.016, -0.07357015, -0.027) + float3 physics:diagonalInertia = (5.1860695e-8, 5.7755943e-7, 5.7755943e-7) + float physics:mass = 0.005875234 + quatf physics:principalAxes = (-0.52280253, -0.47610658, 0.47610658, 0.52280253) + } + } + } + + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.016, -0.07357015, 0.027) + float3 physics:diagonalInertia = (5.18607e-8, 5.7755943e-7, 5.7755943e-7) + float physics:mass = 0.005875234 + quatf physics:principalAxes = (-0.5342876, -0.46318117, 0.46318117, 0.5342876) + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_04" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.025980761, 0.0031057983, 0.015) + float3 physics:diagonalInertia = (1.6503037e-8, 1.18921186e-7, 1.18921186e-7) + float physics:mass = 0.0026941167 + quatf physics:principalAxes = (-0.6910564, -0.14980334, 0.14980336, 0.69105643) + } + } + } + + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-2.7827291e-12, 0.0038022655, 4.782317e-14) + float3 physics:diagonalInertia = (0.000041631298, 0.00005247869, 0.000085178726) + float physics:mass = 0.11536145 + quatf physics:principalAxes = (-0.50000894, 0.50002146, 0.49998632, 0.49998334) + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_05" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (3.55889e-16, 0.0031057983, -0.03) + float3 physics:diagonalInertia = (1.6502979e-8, 1.1892072e-7, 1.1892072e-7) + float physics:mass = 0.0026941167 + quatf physics:principalAxes = (-0.6975505, -0.115859136, 0.11585913, 0.6975505) + } + } + } + + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (1.518693e-7, -0.046913337, 0.00008493578) + float3 physics:diagonalInertia = (0.0006478268, 0.0009871286, 0.0010083623) + float physics:mass = 0.7038173 + quatf physics:principalAxes = (-0.49193767, -0.5076713, 0.49205962, 0.50807923) + } + } + } + } + + over "left_gripper" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.038120225 ( + customData = { + dictionary agentfix = { + string massConfidence = "source component aggregate" + string massMethod = "sum of positive source component masses" + } + } + ) + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.01425, 0.017254578, -0.022014) + float3 physics:diagonalInertia = (3.8431356e-9, 1.3170517e-8, 1.3170517e-8) + float physics:mass = 0.00095370546 + quatf physics:principalAxes = (-0.7055175, 0.047382545, -0.04738254, 0.7055175) + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.01425, 0.017254578, -0.031014) + float3 physics:diagonalInertia = (3.843135e-9, 1.3170517e-8, 1.3170517e-8) + float physics:mass = 0.00095370546 + quatf physics:principalAxes = (0.537509, 0.45943886, 0.45943886, 0.537509) + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.0072488836, 0.020641726, -0.022420388) + float3 physics:diagonalInertia = (0.0000052002574, 0.000016307678, 0.000018486568) + float physics:mass = 0.036212813 + quatf physics:principalAxes = (0.48465165, 0.3314525, 0.7001844, 0.40619427) + } + } + } + } + + over "right_gripper" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.038120225 ( + customData = { + dictionary agentfix = { + string massConfidence = "source component aggregate" + string massMethod = "sum of positive source component masses" + } + } + ) + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.01425, 0.017254578, 0.031014) + float3 physics:diagonalInertia = (3.8431467e-9, 1.3170578e-8, 1.3170579e-8) + float physics:mass = 0.00095370546 + quatf physics:principalAxes = (-0.45891875, -0.53795314, 0.53795314, 0.45891875) + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.01425, 0.017254578, 0.022014) + float3 physics:diagonalInertia = (3.843147e-9, 1.3170578e-8, 1.3170579e-8) + float physics:mass = 0.00095370546 + quatf physics:principalAxes = (0.7055498, 0.04689871, 0.046898708, 0.7055498) + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.0072488836, 0.020641726, 0.022420386) + float3 physics:diagonalInertia = (0.0000052002783, 0.000016307733, 0.00001848663) + float physics:mass = 0.036212813 + quatf physics:principalAxes = (-0.3314515, -0.48465177, 0.40619308, 0.70018554) + } + } + } + } + + def PhysicsFixedJoint "root_joint" + { + custom rel physics:body1 = + point3f physics:localPos0 = (0, 0, 0.15) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + def PhysicsPrismaticJoint "Slider_1" ( + prepend apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"] + ) + { + float drive:linear:physics:damping = 40 + float drive:linear:physics:maxForce = 185 + float drive:linear:physics:stiffness = 4000 + float drive:linear:physics:targetPosition = 0 + float drive:linear:physics:targetVelocity = 0 + uniform token drive:linear:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.01125, -0.0019, -0.03577272) + point3f physics:localPos1 = (0.01125, -0.0019, -0.03577272) + quatf physics:localRot0 = (6.123234e-17, 1, 0, 0) + quatf physics:localRot1 = (6.123234e-17, 1, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 0.025 + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 + } + + def PhysicsPrismaticJoint "Slider_2" ( + prepend apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"] + ) + { + float drive:linear:physics:damping = 10 + float drive:linear:physics:maxForce = 185 + float drive:linear:physics:stiffness = 1000 + float drive:linear:physics:targetPosition = 0 + float drive:linear:physics:targetVelocity = 0 + uniform token drive:linear:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (-0.01125, -0.0019, 0.03577272) + point3f physics:localPos1 = (-0.01125, -0.0019, 0.03577272) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 0.025 + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 + } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysicsMaterialAPI"] + ) + { + float physics:dynamicFriction = 4 + float physics:staticFriction = 4 + } +} + diff --git a/robotiq_hand_e_robotiq_hand_e_base/payloads/Physics/physx.usda b/robotiq_hand_e_robotiq_hand_e_base/payloads/Physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..8a725e4067af3addb1935ceeba8534820c706ee0 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/payloads/Physics/physx.usda @@ -0,0 +1,20 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "RobotIq_Hand_E_base" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + subLayers = [ + @./physics.usda@ + ] + upAxis = "Z" +) + +over "RobotIq_Hand_E_base" ( + prepend apiSchemas = ["PhysxArticulationAPI"] +) +{ +} + diff --git a/robotiq_hand_e_robotiq_hand_e_base/payloads/base.usda b/robotiq_hand_e_robotiq_hand_e_base/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..7d76c0d39c8b1c6037cbd80ae6452bc55a97f26e --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/payloads/base.usda @@ -0,0 +1,666 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "RobotIq_Hand_E_base" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + subLayers = [ + @./robot.usda@ + ] + upAxis = "Z" +) + +def Xform "RobotIq_Hand_E_base" ( + kind = "assembly" +) +{ + def Xform "base_link" ( + kind = "group" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Xform "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE_01" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE_02" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE_03" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE_04" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE_05" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "gripper_01" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.05 + custom float gripper_maxPayload = 0.5 + string isaac:Description = "Parallel-jaw grasp center" + token simready:attactment:socketType = "Gripper" + double3 xformOp:translate = (0, 0.049, 0) + uniform token[] xformOpOrder = ["xformOp:translate"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0.03, 0)] + point3f[] points = [(0, 0, 0), (0, 0.03, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(-0.0105, 0, 0), (0.0105, 0, 0)] + point3f[] points = [(-0.0105, 0, 0), (0.0105, 0, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + } + + def Xform "left_gripper" ( + prepend apiSchemas = ["MaterialBindingAPI"] + kind = "group" + ) + { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (-2.393918396847994e-16, -9.996344030316351e-17, 0.0000031459807267528173) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (-2.393918396847994e-16, -9.996344030316351e-17, 0.0000031459807267528173) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (-2.393918396847994e-16, -9.996344030316351e-17, 0.0000031459807267528173) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + + def Xform "right_gripper" ( + prepend apiSchemas = ["MaterialBindingAPI"] + kind = "group" + ) + { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, -9.996344030316351e-17, -0.00000314598072739499) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, -9.996344030316351e-17, -0.00000314598072739499) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, -9.996344030316351e-17, -0.00000314598072739499) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + + def Scope "VisualMaterials" + { + } + + def Material "fingertip_material" ( + active = true + ) + { + } +} + diff --git a/robotiq_hand_e_robotiq_hand_e_base/payloads/geometries.usd b/robotiq_hand_e_robotiq_hand_e_base/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..c901d32e1efe97151c10862455354cc9f8ff2820 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:771a0a04f7fcf33054a3b0d7223ab3d1f7a2bf8d5b7907e88afe111c91a3d7b9 +size 2960687 diff --git a/robotiq_hand_e_robotiq_hand_e_base/payloads/instances.usda b/robotiq_hand_e_robotiq_hand_e_base/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..bdda9fac9b45b0d16ce8c1f34a052127807c45d0 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/payloads/instances.usda @@ -0,0 +1,975 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Scope "Instances" +{ + def Xform "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [2.3763823645843265e-9, 0, 0, 0, 4.73006043906116e-9, 0, 0, 0, 2.376382364584326e-9] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [5.077595243846955e-7, 0, 0, 0, 3.206227121326496e-8, 0, 0, 0, 5.077595243846955e-7] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [2.3763823645843265e-9, 0, 0, 0, 4.73006043906116e-9, 0, 0, 0, 2.376382364584326e-9] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 "Group3ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend references = @./geometries.usd@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [1.0356251998270198e-7, 0, 0, 0, 1.0576617764197444e-8, 0, 0, 0, 1.0356251998270198e-7] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [2.3763823645843265e-9, 0, 0, 0, 4.73006043906116e-9, 0, 0, 0, 2.376382364584326e-9] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [5.077595243846953e-7, 0, 0, 0, 3.206227121326496e-8, 0, 0, 0, 5.077595243846953e-7] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 "Group3ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend references = @./geometries.usd@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [1.0356251998270236e-7, 0, 0, 0, 1.057661776419747e-8, 0, 0, 0, 1.0356251998270236e-7] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [2.3763823645843265e-9, 0, 0, 0, 4.73006043906116e-9, 0, 0, 0, 2.376382364584326e-9] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 "Group3ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend references = @./geometries.usd@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [1.0356251998270216e-7, 0, 0, 0, 1.0576617764197457e-8, 0, 0, 0, 1.0356251998270215e-7] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [5.07759524384695e-7, 0, 0, 0, 3.2062271213264966e-8, 0, 0, 0, 5.07759524384695e-7] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [5.077595243846959e-7, 0, 0, 0, 3.2062271213264966e-8, 0, 0, 0, 5.077595243846959e-7] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 "Group3ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend references = @./geometries.usd@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [1.0356251998270231e-7, 0, 0, 0, 1.0576617764197464e-8, 0, 0, 0, 1.0356251998270231e-7] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [0.00004338592382010854, 1.5193164306516504e-15, -4.2771363118439794e-11, 1.5193164306516504e-15, 0.00007337635691874903, 0, -4.2771363118439794e-11, 0, 0.00003628642231003109] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Celeste" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8, 0.8, 0.8) + 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 "Group3ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend references = @./geometries.usd@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_5" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [1.0356251998270219e-7, 0, 0, 0, 1.0576617764197457e-8, 0, 0, 0, 1.0356251998270218e-7] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = None + ) + { + double[] inertiaMatrix = [0.0006641696250453498, 3.4844840765882885e-9, -6.634324733763833e-10, 3.4844840765882885e-9, 0.0003857028302926503, 0.000001732597484296221, -6.634324733763833e-10, 0.000001732597484296221, 0.000665151697796183] + + over "Mercury" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Mercury" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.9019608, 0.9019608, 0.9019608) + 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 Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + 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 "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [1.0916516749145615e-8, 0, 0, 0, 2.606002302603864e-9, 0, 0, 0, 1.0916516749145613e-8] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend references = @./geometries.usd@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [1.0916516749145693e-8, 0, 0, 0, 2.6060023026038622e-9, 0, 0, 0, 1.0916516749145693e-8] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend references = @./geometries.usd@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [0.000015677159129686152, 0.0000035752382847897787, -0.0000018985836938539938, 0.0000035752382847897787, 0.000007321508669963475, 0.000003646692493024183, -0.0000018985836938539938, 0.000003646692493024183, 0.000013440751158691061] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Cadet_Blue" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.6666667, 0.69803923, 0.7647059) + 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 "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend references = @./geometries.usd@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [1.0916516749145703e-8, 0, 0, 0, 2.606002302603864e-9, 0, 0, 0, 1.0916516749145704e-8] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend references = @./geometries.usd@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [1.0916516749145609e-8, 0, 0, 0, 2.606002302603863e-9, 0, 0, 0, 1.0916516749145609e-8] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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 "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend references = @./geometries.usd@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [0.000015677159391555885, -0.0000035752383188559365, -0.0000018985837416753084, -0.0000035752383188559365, 0.000007321508885480595, -0.000003646692593977701, -0.0000018985837416753084, -0.000003646692593977701, 0.000013440751205043757] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Cadet_Blue" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.6666667, 0.69803923, 0.7647059) + 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/robotiq_hand_e_robotiq_hand_e_base/payloads/materials.usda b/robotiq_hand_e_robotiq_hand_e_base/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..3ea0c3d607f75f4e1dfb32cc1ce79763ff74f8b9 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/payloads/materials.usda @@ -0,0 +1,328 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "Celeste" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + 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 "Shader" ( + 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 = (0.8, 0.8, 0.8) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8, 0.8, 0.8) + 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 + } + } + + def Material "Cadet_Blue" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + 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 "Shader" ( + 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 = (0.6666667, 0.69803923, 0.7647059) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.6666667, 0.69803923, 0.7647059) + 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 + } + } + + def Material "Mercury" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + 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 "Shader" ( + 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 = (0.9019608, 0.9019608, 0.9019608) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.9019608, 0.9019608, 0.9019608) + 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 + } + } + + def Material "Cod_Gray" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + 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 "Shader" ( + 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 = (0.039215688, 0.039215688, 0.039215688) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + 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 + } + } + + def Material "Nobel" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + 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 "Shader" ( + 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 = (0.7019608, 0.7019608, 0.7019608) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + 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/robotiq_hand_e_robotiq_hand_e_base/payloads/robot.usda b/robotiq_hand_e_robotiq_hand_e_base/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..9a8443be7216516c1379ff167816ad5e3b973943 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/payloads/robot.usda @@ -0,0 +1,303 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "RobotIq_Hand_E_base" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "RobotIq_Hand_E_base" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + prepend rel isaac:physics:robotJoints = [ + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + ] + token isaac:robotType = "End Effector" + + over "base_link" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_1" ( + ) + { + } + } + } + + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_2" ( + ) + { + } + } + } + + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_03" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_3" ( + ) + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_04" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_4" ( + ) + { + } + } + } + + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_05" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_5" ( + ) + { + } + } + } + + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + } + + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "Slider_1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "Slider_2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "left_gripper" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" ( + ) + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" ( + ) + { + } + } + } + } + + over "right_gripper" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" ( + ) + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" ( + ) + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" ( + ) + { + } + } + } + } +} + diff --git a/robotiq_hand_e_robotiq_hand_e_base/runnables/physics/mujoco.usda b/robotiq_hand_e_robotiq_hand_e_base/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..3d8f233d135e82e73a0aa343aa0f0e3eb77dcc75 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/runnables/physics/mujoco.usda @@ -0,0 +1,345 @@ +#usda 1.0 +( + defaultPrim = "RobotIq_Hand_E_base" +) + +over "RobotIq_Hand_E_base" +{ + over "base_link" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_03" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_04" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_05" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "gripper_01" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "left_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "right_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "Slider_1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "Slider_2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float drive:linear:physics:damping = 0 + float drive:linear:physics:stiffness = 0 + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + def "MuJoCoActuators" + { + def MjcActuator "act_RobotIq_Hand_E_base_Slider_1" ( + 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, -1000, -10] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 185 + double mjc:forceRange:min = -185 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } +} + diff --git a/robotiq_hand_e_robotiq_hand_e_base/runnables/physics/newton.usda b/robotiq_hand_e_robotiq_hand_e_base/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..5a79ac0d0ffa21fb87e5879978550fccb7559947 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/runnables/physics/newton.usda @@ -0,0 +1,334 @@ +#usda 1.0 +( + defaultPrim = "RobotIq_Hand_E_base" +) + +over "RobotIq_Hand_E_base" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] +) +{ + bool newton:selfCollisionEnabled = 0 + + over "base_link" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_03" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_04" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_05" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "left_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "right_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "Slider_1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:linear:physics:damping = 0 + float drive:linear:physics:maxForce = 185 + float drive:linear:physics:stiffness = 45000 + float newton:armature = 20 + float newton:damping = 1500 + float newton:velocityLimit = 0.15 + } + + over "Slider_2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:linear:physics:damping = 0 + float drive:linear:physics:stiffness = 0 + float newton:armature = 20 + float newton:damping = 20 + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 0.15 + } +} + diff --git a/robotiq_hand_e_robotiq_hand_e_base/runnables/physics/physx.usda b/robotiq_hand_e_robotiq_hand_e_base/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..d702e9796a173e3ed12b5511cdb3ef8afe8ebe5d --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/runnables/physics/physx.usda @@ -0,0 +1,302 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "RobotIq_Hand_E_base" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "RobotIq_Hand_E_base" ( + prepend apiSchemas = ["PhysxArticulationAPI"] +) +{ + bool physxArticulation:enabledSelfCollisions = 0 + + over "base_link" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_1" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_2" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_03" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_3" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_04" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_05" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_5" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "left_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "right_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "Slider_1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:linear"] + ) + { + float physxJoint:armature = 0.1 + float physxJoint:maxJointVelocity = 0.15 + } + + over "Slider_2" ( + delete apiSchemas = ["PhysicsDriveAPI:linear"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:linear"] + ) + { + float drive:linear:physics:damping = 0 + float drive:linear:physics:stiffness = 0 + float physxJoint:armature = 0.1 + float physxJoint:maxJointVelocity = 0.15 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 600 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysxMaterialAPI"] + ) + { + bool physxMaterial:compliantContactAccelerationSpring = 0 + float physxMaterial:compliantContactStiffness = 0 + uniform token physxMaterial:frictionCombineMode = "max" + } +} + diff --git a/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json new file mode 100644 index 0000000000000000000000000000000000000000..d927cbafb93bcea1aaede75dca36dbdf10821307 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -0,0 +1,34 @@ +{ + "format_version": "1.0", + "profile": "Package-Candidate", + "profile_version": "1.0.0", + "timestamp": "2026-11-04T23:10:42", + "assets": [ + { + "asset": "schunk_egk_25.usda", + "features": [ + { + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "version": "0-1-0", + "passed": true, + "failing_requirements": [], + "dependencies": [] + } + }, + { + "CAP033_SimReadyPackage.OpenUSD.0-1-0": { + "version": "0-1-0", + "passed": true, + "failing_requirements": [], + "dependencies": [ + "CAP031_SelfContainedPackage.OpenUSD.0-1-0" + ] + } + } + ] + } + ], + "content_hash": { + "sha256": "013e380b72bb0840c33f625fad18787867ee43e20a87e831c0e658b86f328a34" + } +} diff --git a/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json new file mode 100644 index 0000000000000000000000000000000000000000..bdc2cc3ea19796853ac511fd6d19448e048a4b8a --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -0,0 +1,31 @@ +{ + "format_version": "1.0", + "profile": "Package", + "profile_version": "1.1.0", + "timestamp": "2026-11-04T23:10:44", + "assets": [ + { + "asset": "com.nvidia.simready.packaging.json", + "features": [ + { + "CAP030_PackagingCore.OpenUSD.0-2-0": { + "version": "0.0.0", + "passed": true, + "failing_requirements": [], + "dependencies": [] + } + }, + { + "CAP032_PackagingIntrospection.OpenUSD.0-2-0": { + "version": "0.0.0", + "passed": true, + "failing_requirements": [], + "dependencies": [ + "CAP030_PackagingCore.OpenUSD.0-2-0" + ] + } + } + ] + } + ] +} diff --git a/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.packaging.bom.json b/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.packaging.bom.json new file mode 100644 index 0000000000000000000000000000000000000000..82d1879e4b51d2e3c92f4c493adabf7864ebddd0 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.packaging.bom.json @@ -0,0 +1,222 @@ +{ + "format_version": "1.0", + "content_root": "file:///home/jwylie/Desktop/isaacsim-gripper-package_1.0/.packages/schunk_egk_25_schunk_egk_25/1.0.0", + "items": [ + { + "relative_path": ".thumbs/256x256/schunk_egk_25.usda.png", + "size": 43021, + "hash": { + "sha256-flat-1mb": "dd53de5c334a21b10f35d0002180c0bc65c0f652207dfddaa96b464a6687d6df", + "sha256": "e39b1b39a794b03505d325da6f5ea16081633113f164f54472f48e271a52e726" + } + }, + { + "relative_path": "materials/mdl/OmniPBR.mdl", + "size": 13969, + "hash": { + "sha256-flat-1mb": "1c58f77068df165a71676dfde42a4b7e4932a82cacacfc7a205ae94fc0332aaf", + "sha256": "c902cc38dc97ff6a89fe94dca94edfb523a30e3749d3708610a136867c3357bf" + } + }, + { + "relative_path": "materials/mdl/OmniPBRBase.mdl", + "size": 17274, + "hash": { + "sha256-flat-1mb": "4b54e7fb8bc92191512851b3acc6fc6fa9863f80d98ffece8f0cb9b99f5f4535", + "sha256": "701f37299b44106842bdbe025de52eedec391e35b038f61c4ed4d25bd98e7db1" + } + }, + { + "relative_path": "materials/mdl/OmniPBR_ClearCoat.mdl", + "size": 27433, + "hash": { + "sha256-flat-1mb": "b1f146a3767a5012936e3d246f2697c3536c2f72b5c5963d3bca0998d02f8931", + "sha256": "085ba661b49042570e24cda09c939e5aebf312ae332af92744a99bd3abbfbee4" + } + }, + { + "relative_path": "materials/mdl/aux_definitions.mdl", + "size": 101769, + "hash": { + "sha256-flat-1mb": "6a5ffcb49e18ade213c3a4d79cf171d66612f9eee045074a0b937dbe4cf01ef6", + "sha256": "ebb81c8977aeb30790399ec7aaa7f2f76cb23afb434f56201ef152aba45a6e81" + } + }, + { + "relative_path": "materials/mdl/core_definitions.mdl", + "size": 201537, + "hash": { + "sha256-flat-1mb": "54bdc55e3899f126b1e271eef4de9c5966b1390fb3143872846f29f0ca68378d", + "sha256": "052aec260e8dfef5d671545fc2fc28c0c478a5b043041c65a833b2a6d81bf950" + } + }, + { + "relative_path": "materials/mdl/license.txt", + "size": 3220, + "hash": { + "sha256-flat-1mb": "d54635995b7794c6549d0f7c70586e739c1e24cb671ce966e64a8c1a6703a452", + "sha256": "d62e1bd5e34d0ca6f92f0e9f10670ee0cd586695e20f0a838a8f859119589683" + } + }, + { + "relative_path": "materials/mdl/support_definitions.mdl", + "size": 147454, + "hash": { + "sha256-flat-1mb": "2b93c649c03f3ef48fb24cc6baba953df1f9dd4e7e860719bc3322fc3e789aba", + "sha256": "bb372f21b6e81d293b99fea6819a8309e2c33c732c7151752b4b33dade177f2e" + } + }, + { + "relative_path": "payloads/Fingers/default.usda", + "size": 143, + "hash": { + "sha256-flat-1mb": "6aaf2d70cdc5aaf7ee6c0e5c0ee0a1c4dc115126a1a79c1696bca7851ead053f", + "sha256": "763815f1e32a8ad6f04a8a9093b93d87975fa85ba470d38ea0f624f9ac8a0a90" + } + }, + { + "relative_path": "payloads/Fingers/none.usda", + "size": 143, + "hash": { + "sha256-flat-1mb": "6aaf2d70cdc5aaf7ee6c0e5c0ee0a1c4dc115126a1a79c1696bca7851ead053f", + "sha256": "763815f1e32a8ad6f04a8a9093b93d87975fa85ba470d38ea0f624f9ac8a0a90" + } + }, + { + "relative_path": "payloads/Physics/mujoco.usda", + "size": 5340, + "hash": { + "sha256-flat-1mb": "5e1bb29cc9dc8585f6578ab0c78a3bf2ada459ec0b1e6ab5ebdba2679d0c487b", + "sha256": "36dc48d60a260d9f230798494984527222becf1f94312face23ab5ef7589cd2c" + } + }, + { + "relative_path": "payloads/Physics/none.usda", + "size": 143, + "hash": { + "sha256-flat-1mb": "6aaf2d70cdc5aaf7ee6c0e5c0ee0a1c4dc115126a1a79c1696bca7851ead053f", + "sha256": "763815f1e32a8ad6f04a8a9093b93d87975fa85ba470d38ea0f624f9ac8a0a90" + } + }, + { + "relative_path": "payloads/Physics/physics.usda", + "size": 13492, + "hash": { + "sha256-flat-1mb": "b61530ecd8e5678c9d0c1aa0595b7cc8257bd5caf2ff2d57f0bcd28355d1db86", + "sha256": "75617795196307d47c32e57753f2d75d84c5aedace49f828ea41ab60c49a9959" + } + }, + { + "relative_path": "payloads/Physics/physx.usda", + "size": 1014, + "hash": { + "sha256-flat-1mb": "c4e286c967588bec2b896f2d0467ee5f82657b5907f39bc71aefc3b4e708add6", + "sha256": "d7a09ebd35ece4dad0e46fc38b3090cd202873ae6fba5838d47d09f8e64a337e" + } + }, + { + "relative_path": "payloads/Robot/none.usda", + "size": 143, + "hash": { + "sha256-flat-1mb": "6aaf2d70cdc5aaf7ee6c0e5c0ee0a1c4dc115126a1a79c1696bca7851ead053f", + "sha256": "763815f1e32a8ad6f04a8a9093b93d87975fa85ba470d38ea0f624f9ac8a0a90" + } + }, + { + "relative_path": "payloads/Robot/robot.usda", + "size": 2213, + "hash": { + "sha256-flat-1mb": "ba80d9a317384eaf76daea92fb491d99a240cdc5e16f44af2765fcdb015a118a", + "sha256": "098e2d6e2eae723f4ac56242401b998942df8daade4ee4158d25c6ec86352394" + } + }, + { + "relative_path": "payloads/Sensor/none.usda", + "size": 143, + "hash": { + "sha256-flat-1mb": "6aaf2d70cdc5aaf7ee6c0e5c0ee0a1c4dc115126a1a79c1696bca7851ead053f", + "sha256": "763815f1e32a8ad6f04a8a9093b93d87975fa85ba470d38ea0f624f9ac8a0a90" + } + }, + { + "relative_path": "payloads/Sensor/sensors.usda", + "size": 149, + "hash": { + "sha256-flat-1mb": "7be6a413831ef7af09b4b0135662aad0eb27e5cb24592aac15ea18d6b16242e5", + "sha256": "380d86eb1fefa90fe9a050d4ab4c074ad07b6e84c058b70e03fed5c44fe7e49a" + } + }, + { + "relative_path": "payloads/base.usda", + "size": 26687, + "hash": { + "sha256-flat-1mb": "00a6c0a0586edb4bd9f5e593c84896ca3292f10477be4ff4c26e7ff67eb0b202", + "sha256": "d6cec68bce80102e46abfc5d44f1339567b1365e20643dbff7de0b1acb8db1b4" + } + }, + { + "relative_path": "payloads/geometries.usd", + "size": 727890, + "hash": { + "sha256-flat-1mb": "b4f13811edb35f6594d40459a4e13674bc8fad0b945784bdbe47d89523bcf1fc", + "sha256": "93404ebefa17669f23b5e177d70ba90b1c1d2f1ea539b91d736658b91f74e48e" + } + }, + { + "relative_path": "payloads/instances.usda", + "size": 41417, + "hash": { + "sha256-flat-1mb": "9b3138dd954a48420dc4feb2c8cbbb1cc1c19c34a4941fcde4d7e6be5f9969e8", + "sha256": "7fa6b4896eabe411fe1e79dd90df58003489bd0be6cfe62dc7bc0f6b2a8dc978" + } + }, + { + "relative_path": "payloads/materials.usda", + "size": 234049, + "hash": { + "sha256-flat-1mb": "93bb93e5d14b571cf1a0ee8affb8324aa39b9100c14c086b9950e47c4e26ef5d", + "sha256": "ae30ae88685af02dac606756d19cbf7450f32a9d140e934c967dab7f67a7e1ea" + } + }, + { + "relative_path": "payloads/robot.usda", + "size": 3345, + "hash": { + "sha256-flat-1mb": "956aebbdf622a7ad01ad5c9d5feba41ac9a01153e155d234d4aef5fdcc3a55c1", + "sha256": "7cf9717da020d33626f78787debb43b5c9a07661c8a97b62738e2ff19822e6f7" + } + }, + { + "relative_path": "runnables/physics/mujoco.usda", + "size": 12077, + "hash": { + "sha256-flat-1mb": "fc0bd5778a06309d982372cdc9fa5c9f2db1508504e04f2deaf50b1a77a4d1c3", + "sha256": "983be6a016874b65fbed8e67a8633c9f4401270dd1e8a00572a0dcea29f0e664" + } + }, + { + "relative_path": "runnables/physics/newton.usda", + "size": 11812, + "hash": { + "sha256-flat-1mb": "98a9a6a994f1afb5262e5c6bdb340da44f3810d24dc84f64bca20a5c2b4c6482", + "sha256": "fbbb0b76423a332f637761d28247cb27886b50b4197583af6d4491d386eea774" + } + }, + { + "relative_path": "runnables/physics/physx.usda", + "size": 10283, + "hash": { + "sha256-flat-1mb": "d600e01013fbb74bac0b393343ad817f33fc0cada063f161fdb2a8cc72ad75aa", + "sha256": "75900aa0aa50115732c317e0d40af077cb7bba84a063180da1503d4171cb5e10" + } + }, + { + "relative_path": "schunk_egk_25.usda", + "size": 818523, + "hash": { + "sha256-flat-1mb": "1ac6ecc138f32ec77386481a7493c6a308992c30152adfecb729fc6e999ed527", + "sha256": "b00ed85b17aeea6e11282dde1fa60c8c275261fb5975dac07847a74cefdf0d85" + } + } + ] +} \ No newline at end of file diff --git a/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.root_usds.json b/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.root_usds.json new file mode 100644 index 0000000000000000000000000000000000000000..2147b790d2a142c2e8b987e8a9752d38c5c458e1 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.root_usds.json @@ -0,0 +1,6 @@ +{ + "format_version": "1.0", + "entries": [ + "schunk_egk_25.usda" + ] +} diff --git a/schunk_egk_25_schunk_egk_25/.metadata/license.txt b/schunk_egk_25_schunk_egk_25/.metadata/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..da6ab6cc8f333d7e89a99812866df8f24374d47c --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/.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. The +following considerations are for informational purposes only, are not +exhaustive, and do not form part of our licenses. + + Considerations for licensors: Our public licenses are + intended for use by those authorized to give the public + permission to use material in ways otherwise restricted by + copyright and certain other rights. Our licenses are + irrevocable. Licensors should read and understand the terms + and conditions of the license they choose before applying it. + Licensors should also secure all rights necessary before + applying our licenses so that the public can reuse the + material as expected. Licensors should clearly mark any + material not subject to the license. This includes other CC- + licensed material, or material used under an exception or + limitation to copyright. More considerations for licensors: + wiki.creativecommons.org/Considerations_for_licensors + + Considerations for the public: By using one of our public + licenses, a licensor grants the public permission to use the + licensed material under specified terms and conditions. If + the licensor's permission is not necessary for any reason--for + example, because of any applicable exception or limitation to + copyright--then that use is not regulated by the license. Our + licenses grant only permissions under copyright and certain + other rights that a licensor has authority to grant. Use of + the licensed material may still be restricted for other + reasons, including because others have copyright or other + rights in the material. A licensor may make special requests, + such as asking that all changes be marked or described. + Although not required by our licenses, you are encouraged to + respect those requests where reasonable. More considerations + for the public: + wiki.creativecommons.org/Considerations_for_licensees + +======================================================================= + +Creative Commons Attribution 4.0 International Public License + +By exercising the Licensed Rights (defined below), You accept and agree +to be bound by the terms and conditions of this Creative Commons +Attribution 4.0 International Public License ("Public License"). To the +extent this Public License may be interpreted as a contract, You are +granted the Licensed Rights in consideration of Your acceptance of +these terms and conditions, and the Licensor grants You such rights in +consideration of benefits the Licensor receives from making the +Licensed Material available under these terms and conditions. + + +Section 1 -- Definitions. + + a. Adapted Material means material subject to Copyright and Similar + Rights that is derived from or based upon the Licensed Material + and in which the Licensed Material is translated, altered, + arranged, transformed, or otherwise modified in a manner requiring + permission under the Copyright and Similar Rights held by the + Licensor. For purposes of this Public License, where the Licensed + Material is a musical work, performance, or sound recording, + Adapted Material is always produced where the Licensed Material is + synched in timed relation with a moving image. + + b. Adapter's License means the license You apply to Your Copyright + and Similar Rights in Your contributions to Adapted Material in + accordance with the terms and conditions of this Public License. + + c. Copyright and Similar Rights means copyright and/or similar rights + closely related to copyright including, without limitation, + performance, broadcast, sound recording, and Sui Generis Database + Rights, without regard to how the rights are labeled or + categorized. For purposes of this Public License, the rights + specified in Section 2(b)(1)-(2) are not Copyright and Similar + Rights. + + d. Effective Technological Measures means those measures that, in the + absence of proper authority, may not be circumvented under laws + fulfilling obligations under Article 11 of the WIPO Copyright + Treaty adopted on December 20, 1996, and/or similar international + agreements. + + e. Exceptions and Limitations means fair use, fair dealing, and/or + any other exception or limitation to Copyright and Similar Rights + that applies to Your use of the Licensed Material. + + f. Licensed Material means the artistic or literary work, database, + or other material to which the Licensor applied this Public + License. + + g. Licensed Rights means the rights granted to You subject to the + terms and conditions of this Public License, which are limited to + all Copyright and Similar Rights that apply to Your use of the + Licensed Material and that the Licensor has authority to license. + + h. Licensor means the individual(s) or entity(ies) granting rights + under this Public License. + + i. Share means to provide material to the public by any means or + process that requires permission under the Licensed Rights, such + as reproduction, public display, public performance, distribution, + dissemination, communication, or importation, and to make material + available to the public including in ways that members of the + public may access the material from a place and at a time + individually chosen by them. + + j. Sui Generis Database Rights means rights other than copyright + resulting from Directive 96/9/EC of the European Parliament and of + the Council of 11 March 1996 on the legal protection of databases, + as amended and/or succeeded, as well as other essentially + equivalent rights anywhere in the world. + + k. You means the individual or entity exercising the Licensed Rights + under this Public License. Your has a corresponding meaning. + + +Section 2 -- Scope. + + a. License grant. + + 1. Subject to the terms and conditions of this Public License, + the Licensor hereby grants You a worldwide, royalty-free, + non-sublicensable, non-exclusive, irrevocable license to + exercise the Licensed Rights in the Licensed Material to: + + a. reproduce and Share the Licensed Material, in whole or + in part; and + + b. produce, reproduce, and Share Adapted Material. + + 2. Exceptions and Limitations. For the avoidance of doubt, where + Exceptions and Limitations apply to Your use, this Public + License does not apply, and You do not need to comply with + its terms and conditions. + + 3. Term. The term of this Public License is specified in Section + 6(a). + + 4. Media and formats; technical modifications allowed. The + Licensor authorizes You to exercise the Licensed Rights in + all media and formats whether now known or hereafter created, + and to make technical modifications necessary to do so. The + Licensor waives and/or agrees not to assert any right or + authority to forbid You from making technical modifications + necessary to exercise the Licensed Rights, including + technical modifications necessary to circumvent Effective + Technological Measures. For purposes of this Public License, + simply making modifications authorized by this Section 2(a) + (4) never produces Adapted Material. + + 5. Downstream recipients. + + a. Offer from the Licensor -- Licensed Material. Every + recipient of the Licensed Material automatically + receives an offer from the Licensor to exercise the + Licensed Rights under the terms and conditions of this + Public License. + + b. No downstream restrictions. You may not offer or impose + any additional or different terms or conditions on, or + apply any Effective Technological Measures to, the + Licensed Material if doing so restricts exercise of the + Licensed Rights by any recipient of the Licensed + Material. + + 6. No endorsement. Nothing in this Public License constitutes or + may be construed as permission to assert or imply that You + are, or that Your use of the Licensed Material is, connected + with, or sponsored, endorsed, or granted official status by, + the Licensor or others designated to receive attribution as + provided in Section 3(a)(1)(A)(i). + + b. Other rights. + + 1. Moral rights, such as the right of integrity, are not + licensed under this Public License, nor are publicity, + privacy, and/or other similar personality rights; however, to + the extent possible, the Licensor waives and/or agrees not to + assert any such rights held by the Licensor to the limited + extent necessary to allow You to exercise the Licensed + Rights, but not otherwise. + + 2. Patent and trademark rights are not licensed under this + Public License. + + 3. To the extent possible, the Licensor waives any right to + collect royalties from You for the exercise of the Licensed + Rights, whether directly or through a collecting society + under any voluntary or waivable statutory or compulsory + licensing scheme. In all other cases the Licensor expressly + reserves any right to collect such royalties. + + +Section 3 -- License Conditions. + +Your exercise of the Licensed Rights is expressly made subject to the +following conditions. + + a. Attribution. + + 1. If You Share the Licensed Material (including in modified + form), You must: + + a. retain the following if it is supplied by the Licensor + with the Licensed Material: + + i. identification of the creator(s) of the Licensed + Material and any others designated to receive + attribution, in any reasonable manner requested by + the Licensor (including by pseudonym if + designated); + + ii. a copyright notice; + + iii. a notice that refers to this Public License; + + iv. a notice that refers to the disclaimer of + warranties; + + v. a URI or hyperlink to the Licensed Material to the + extent reasonably practicable; + + b. indicate if You modified the Licensed Material and + retain an indication of any previous modifications; and + + c. indicate the Licensed Material is licensed under this + Public License, and include the text of, or the URI or + hyperlink to, this Public License. + + 2. You may satisfy the conditions in Section 3(a)(1) in any + reasonable manner based on the medium, means, and context in + which You Share the Licensed Material. For example, it may be + reasonable to satisfy the conditions by providing a URI or + hyperlink to a resource that includes the required + information. + + 3. If requested by the Licensor, You must remove any of the + information required by Section 3(a)(1)(A) to the extent + reasonably practicable. + + 4. If You Share Adapted Material You produce, the Adapter's + License You apply must not prevent recipients of the Adapted + Material from complying with this Public License. + + +Section 4 -- Sui Generis Database Rights. + +Where the Licensed Rights include Sui Generis Database Rights that +apply to Your use of the Licensed Material: + + a. for the avoidance of doubt, Section 2(a)(1) grants You the right + to extract, reuse, reproduce, and Share all or a substantial + portion of the contents of the database; + + b. if You include all or a substantial portion of the database + contents in a database in which You have Sui Generis Database + Rights, then the database in which You have Sui Generis Database + Rights (but not its individual contents) is Adapted Material; and + + c. You must comply with the conditions in Section 3(a) if You Share + all or a substantial portion of the contents of the database. + +For the avoidance of doubt, this Section 4 supplements and does not +replace Your obligations under this Public License where the Licensed +Rights include other Copyright and Similar Rights. + + +Section 5 -- Disclaimer of Warranties and Limitation of Liability. + + a. UNLESS OTHERWISE SEPARATELY UNDERTAKEN BY THE LICENSOR, TO THE + EXTENT POSSIBLE, THE LICENSOR OFFERS THE LICENSED MATERIAL AS-IS + AND AS-AVAILABLE, AND MAKES NO REPRESENTATIONS OR WARRANTIES OF + ANY KIND CONCERNING THE LICENSED MATERIAL, WHETHER EXPRESS, + IMPLIED, STATUTORY, OR OTHER. THIS INCLUDES, WITHOUT LIMITATION, + WARRANTIES OF TITLE, MERCHANTABILITY, FITNESS FOR A PARTICULAR + PURPOSE, NON-INFRINGEMENT, ABSENCE OF LATENT OR OTHER DEFECTS, + ACCURACY, OR THE PRESENCE OR ABSENCE OF ERRORS, WHETHER OR NOT + KNOWN OR DISCOVERABLE. WHERE DISCLAIMERS OF WARRANTIES ARE NOT + ALLOWED IN FULL OR IN PART, THIS DISCLAIMER MAY NOT APPLY TO YOU. + + b. TO THE EXTENT POSSIBLE, IN NO EVENT WILL THE LICENSOR BE LIABLE + TO YOU ON ANY LEGAL THEORY (INCLUDING, WITHOUT LIMITATION, + NEGLIGENCE) OR OTHERWISE FOR ANY DIRECT, SPECIAL, INDIRECT, + INCIDENTAL, CONSEQUENTIAL, PUNITIVE, EXEMPLARY, OR OTHER LOSSES, + COSTS, EXPENSES, OR DAMAGES ARISING OUT OF THIS PUBLIC LICENSE OR + USE OF THE LICENSED MATERIAL, EVEN IF THE LICENSOR HAS BEEN + ADVISED OF THE POSSIBILITY OF SUCH LOSSES, COSTS, EXPENSES, OR + DAMAGES. WHERE A LIMITATION OF LIABILITY IS NOT ALLOWED IN FULL OR + IN PART, THIS LIMITATION MAY NOT APPLY TO YOU. + + c. The disclaimer of warranties and limitation of liability provided + above shall be interpreted in a manner that, to the extent + possible, most closely approximates an absolute disclaimer and + waiver of all liability. + + +Section 6 -- Term and Termination. + + a. This Public License applies for the term of the Copyright and + Similar Rights licensed here. However, if You fail to comply with + this Public License, then Your rights under this Public License + terminate automatically. + + b. Where Your right to use the Licensed Material has terminated under + Section 6(a), it reinstates: + + 1. automatically as of the date the violation is cured, provided + it is cured within 30 days of Your discovery of the + violation; or + + 2. upon express reinstatement by the Licensor. + + For the avoidance of doubt, this Section 6(b) does not affect any + right the Licensor may have to seek remedies for Your violations + of this Public License. + + c. For the avoidance of doubt, the Licensor may also offer the + Licensed Material under separate terms or conditions or stop + distributing the Licensed Material at any time; however, doing so + will not terminate this Public License. + + d. Sections 1, 5, 6, 7, and 8 survive termination of this Public + License. + + +Section 7 -- Other Terms and Conditions. + + a. The Licensor shall not be bound by any additional or different + terms or conditions communicated by You unless expressly agreed. + + b. Any arrangements, understandings, or agreements regarding the + Licensed Material not stated herein are separate from and + independent of the terms and conditions of this Public License. + + +Section 8 -- Interpretation. + + a. For the avoidance of doubt, this Public License does not, and + shall not be interpreted to, reduce, limit, restrict, or impose + conditions on any use of the Licensed Material that could lawfully + be made without permission under this Public License. + + b. To the extent possible, if any provision of this Public License is + deemed unenforceable, it shall be automatically reformed to the + minimum extent necessary to make it enforceable. If the provision + cannot be reformed, it shall be severed from this Public License + without affecting the enforceability of the remaining terms and + conditions. + + c. No term or condition of this Public License will be waived and no + failure to comply consented to unless expressly agreed to by the + Licensor. + + d. Nothing in this Public License constitutes or may be interpreted + as a limitation upon, or waiver of, any privileges and immunities + that apply to the Licensor or You, including from the legal + processes of any jurisdiction or authority. + + +======================================================================= + +Creative Commons is not a party to its public +licenses. Notwithstanding, Creative Commons may elect to apply one of +its public licenses to material it publishes and in those instances +will be considered the “Licensor.” The text of the Creative Commons +public licenses is dedicated to the public domain under the CC0 Public +Domain Dedication. 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/schunk_egk_25_schunk_egk_25/.metadata/schunk_egk_25_schunk_egk_25_benchmark.json b/schunk_egk_25_schunk_egk_25/.metadata/schunk_egk_25_schunk_egk_25_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..e1709ff4c6665ebd3924784c11545af3b4a8f70d --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/.metadata/schunk_egk_25_schunk_egk_25_benchmark.json @@ -0,0 +1,7660 @@ +{ + "schema_version": "1.0", + "asset": "schunk_egk_25_schunk_egk_25", + "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": 119.188, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 32.359, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 2022.44, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.422, + "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": 119.188, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 32.359, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 2022.44, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.422, + "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": 215.562, + "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": 62, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 24, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 24, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 24, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 10.486, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1498.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.437, + "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": 65050, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 65340, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.2089, + 0.2095, + 0.2106 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.000138, + "unit": null + }, + "display_color_response_ratio": { + "value": 1.0, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.978048, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 215.562, + "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": 62, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 24, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 24, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 24, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 10.486, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1498.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.437, + "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": 65050, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 65340, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.2089, + 0.2095, + 0.2106 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.000138, + "unit": null + }, + "display_color_response_ratio": { + "value": 1.0, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.978048, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 10.594, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 1, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 1, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 1, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.24207612514751006, + "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": 1.625, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1625.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.594, + "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": 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": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 660.0, + "max_force": 100.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.026500003412365913, + "start": 1.959802830545261e-14, + "tolerance": 0.0013250001706173159 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 26, + "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": 6.391, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 1, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 1, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 1, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.2420761041500652, + "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": 0.329, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 329.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.484, + "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": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 37500.0, + "damping": 0.0, + "max_force": 100.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.026500003412365913, + "start": 4.1353252274764333e-16, + "tolerance": 0.0013250001706182752 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 101, + "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": 21.203, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 1, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.24207612514751006, + "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": "Jaw_Drive", + "body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "direction": "-XZ", + "world_com": [ + -5.421356762552622e-06, + -4.542883717731003e-06, + 9.046390811136122e-05 + ] + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.639, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 136.58, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.781, + "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": "Jaw_Drive", + "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": "unknown_native", + "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/SCHUNK_1500102Grundbacke_EGK_25_3", + "runtime_lower": 0.0, + "runtime_upper": 0.026500003412365913, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 660.0, + "max_force": 100.0 + } + }, + "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": "effort_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 13.813, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 1, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.2420761041500652, + "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": 2.297, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 191.42, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.828, + "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": "Jaw_Drive", + "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": "unknown_native", + "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/SCHUNK_1500102Grundbacke_EGK_25_3", + "runtime_lower": 0.0, + "runtime_upper": 0.026500003412365913, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 37500.0, + "damping": 0.0, + "max_force": 100.0 + } + }, + "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": 36.141, + "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": 36.06200000003446, + "setup_elapsed_wall_seconds": 2.75, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3323.9379999999655, + "observed_service_seconds_per_nominal_tick": 0.026692307692335302, + "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": 29.632000000216067, + "attempts": 1248 + }, + "captures": { + "wall_seconds": 1.2980000000679865, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 0.9600000001955777, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.1399999997811392, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 0.12399999995250255, + "attempts": 1018 + }, + "commands": { + "wall_seconds": 0.20399999991059303, + "attempts": 1008 + }, + "encoding": { + "wall_seconds": 0.7029999999795109, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 2, + "unit": null + }, + "frs_joints_tested": { + "value": 1, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 1, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.24207612514751006, + "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": 0.0006811129076094066, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "Jaw_Drive", + "segment": "to_max", + "requested_start": 2.353586509712402e-12, + "observed_start": 2.353586509712402e-12, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00019037602449564992 + }, + { + "joint": "Jaw_Drive", + "segment": "to_min", + "requested_start": 0.023850003071129323, + "observed_start": 0.02384631149470806, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00016919366591844343 + }, + { + "joint": "Jaw_Drive", + "segment": "to_zero", + "requested_start": 0.0026500003412365915, + "observed_start": 0.0026532383635640144, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 2.1178738226490523e-05 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.298, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 144.22, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.687, + "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": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "current sweep segment destination" + }, + "error": { + "unit": "unknown_native", + "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": 0.026500003412365913, + "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": 0.10000000149011612, + "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": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 660.0, + "max_force": 100.0 + } + }, + "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": [ + { + "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_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 41.828, + "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": 41.71900000004098, + "setup_elapsed_wall_seconds": 31.813000000081956, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3318.280999999959, + "observed_service_seconds_per_nominal_tick": 0.00788694267512661, + "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": 2.855000000796281, + "attempts": 1256 + }, + "captures": { + "wall_seconds": 1.3110000001033768, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 0.8750000004656613, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.15999999991618097, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 0.8019999997923151, + "attempts": 1026 + }, + "commands": { + "wall_seconds": 2.906999998842366, + "attempts": 1016 + }, + "encoding": { + "wall_seconds": 0.6870000000344589, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 2, + "unit": null + }, + "frs_joints_tested": { + "value": 1, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 1, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.2420761041500652, + "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": 0.0006811130139243955, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "Jaw_Drive", + "segment": "to_max", + "requested_start": 1.1771830248266614e-21, + "observed_start": 1.1771830248266614e-21, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00019037602451443678 + }, + { + "joint": "Jaw_Drive", + "segment": "to_min", + "requested_start": 0.023850003071129323, + "observed_start": 0.02384350448846817, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00016917125977067293 + }, + { + "joint": "Jaw_Drive", + "segment": "to_zero", + "requested_start": 0.0026500003412365915, + "observed_start": 0.002655774587765336, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 2.1198982931673604e-05 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.311, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 145.67, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.687, + "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": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "current sweep segment destination" + }, + "error": { + "unit": "unknown_native", + "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": 0.026500003412365913, + "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": 0.10000000149011612, + "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": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2500.0, + "damping": 0.0, + "max_force": 10.0 + } + }, + "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": 73.594, + "message": "", + "metrics": { + "gripper_max_opening_m": { + "value": 0.05299999937415123, + "unit": null + }, + "gripper_max_payload_kg": { + "value": 0.5, + "unit": null + }, + "used_heuristic_payload": { + "value": false, + "unit": null + }, + "tested_object_mass_kg": { + "value": 0.425, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.42, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 29, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 117.93, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.985, + "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 + }, + "test_support_collision_suspended": { + "value": [], + "unit": null + }, + "detect_probe_evidence_0": { + "value": { + "schema_version": 1, + "trial_index": 0, + "trial_shape": "cube", + "dof_index": 0, + "joint_name": "Jaw_Drive", + "joint_units": "native articulation position units; see motion metadata when identity resolves", + "lower_limit": 0.0, + "upper_limit": 0.026500003412365913, + "inset_fraction": 0.05, + "original_position": 3.6865474561942335e-10, + "prior_target": 0.0, + "meters_per_unit": 1.0, + "reference_path": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "candidate_body_paths": [ + "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_4" + ], + "candidate_body_paths_omitted": 0, + "missing_geometry_paths": [], + "geometry_basis": "owned bound corners transformed by live tensor poses; not measured contacts", + "ramps": [ + { + "phase": "lower_endpoint", + "start_position": 3.6865474561942335e-10, + "commanded_target": 0.0013250001706182958, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 2.748767155690864e-07, + "achieved": 2.6748391945830008e-08 + }, + { + "step": 4, + "commanded": 4.318886527812005e-06, + "achieved": 7.319908945646603e-07 + }, + { + "step": 8, + "commanded": 1.6881847613096037e-05, + "achieved": 4.466925929591525e-06 + }, + { + "step": 12, + "commanded": 3.710036310972503e-05, + "achieved": 1.2817886272387113e-05 + }, + { + "step": 16, + "commanded": 6.438554421682628e-05, + "achieved": 2.6666213670978323e-05 + }, + { + "step": 20, + "commanded": 9.814850213352711e-05, + "achieved": 4.6404828026425093e-05 + }, + { + "step": 24, + "commanded": 0.00013780034805895486, + "achieved": 7.210053445305675e-05 + }, + { + "step": 28, + "commanded": 0.00018275219319223676, + "achieved": 0.00010360228043282405 + }, + { + "step": 32, + "commanded": 0.00023241514873250022, + "achieved": 0.00014061365800444037 + }, + { + "step": 36, + "commanded": 0.00028620032587887246, + "achieved": 0.00018274091416969895 + }, + { + "step": 40, + "commanded": 0.0003435188358304808, + "achieved": 0.00022952562721911818 + }, + { + "step": 44, + "commanded": 0.00040378178978645263, + "achieved": 0.0002804659307003021 + }, + { + "step": 48, + "commanded": 0.0004664002989459154, + "achieved": 0.00033503136364743114 + }, + { + "step": 52, + "commanded": 0.0005307854745079959, + "achieved": 0.0003926715289708227 + }, + { + "step": 56, + "commanded": 0.0005963484276718219, + "achieved": 0.00045282350038178265 + }, + { + "step": 60, + "commanded": 0.0006625002696365207, + "achieved": 0.0005149157950654626 + }, + { + "step": 64, + "commanded": 0.0007286521116012195, + "achieved": 0.0005783708184026182 + }, + { + "step": 68, + "commanded": 0.0007942150647650455, + "achieved": 0.0006426082109101117 + }, + { + "step": 72, + "commanded": 0.0008586002403271261, + "achieved": 0.0007070439751259983 + }, + { + "step": 76, + "commanded": 0.0009212187494865887, + "achieved": 0.0007710923091508448 + }, + { + "step": 80, + "commanded": 0.0009814817034425605, + "achieved": 0.0008341661305166781 + }, + { + "step": 84, + "commanded": 0.0010388002133941688, + "achieved": 0.0008956790552474558 + }, + { + "step": 88, + "commanded": 0.0010925853905405412, + "achieved": 0.0009550426038913429 + }, + { + "step": 92, + "commanded": 0.0011422483460808046, + "achieved": 0.001011669752188027 + }, + { + "step": 96, + "commanded": 0.0011872001912140867, + "achieved": 0.0010649701580405235 + }, + { + "step": 100, + "commanded": 0.0012268520371395144, + "achieved": 0.0011143562151119113 + }, + { + "step": 104, + "commanded": 0.0012606149950562151, + "achieved": 0.001159239443950355 + }, + { + "step": 108, + "commanded": 0.0012879001761633164, + "achieved": 0.001199030433781445 + }, + { + "step": 112, + "commanded": 0.0013081186916599453, + "achieved": 0.0012331415200605989 + }, + { + "step": 116, + "commanded": 0.0013206816527452294, + "achieved": 0.001260983059182763 + }, + { + "step": 120, + "commanded": 0.0013250001706182958, + "achieved": 0.0012819657567888498 + } + ], + "samples_omitted": 89, + "last_commanded_position": 0.0013250001706182958, + "last_achieved_position": 0.0012819657567888498 + }, + { + "phase": "upper_endpoint", + "start_position": 0.0012819657567888498, + "commanded_target": 0.025175003241747616, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 0.001286915818952979, + "achieved": 0.001282444573007524 + }, + { + "step": 4, + "commanded": 0.0013598393604435303, + "achieved": 0.001295158639550209 + }, + { + "step": 8, + "commanded": 0.0015863807528935098, + "achieved": 0.0013625050196424127 + }, + { + "step": 12, + "commanded": 0.0019509708063676955, + "achieved": 0.0015130918473005295 + }, + { + "step": 16, + "commanded": 0.0024429903930949944, + "achieved": 0.0017628107452765107 + }, + { + "step": 20, + "commanded": 0.003051820385304314, + "achieved": 0.0021187462843954563 + }, + { + "step": 24, + "commanded": 0.003766841655224562, + "achieved": 0.002582104876637459 + }, + { + "step": 28, + "commanded": 0.004577435075084645, + "achieved": 0.0031501578632742167 + }, + { + "step": 32, + "commanded": 0.005472981517113469, + "achieved": 0.0038175624795258045 + }, + { + "step": 36, + "commanded": 0.006442861853539943, + "achieved": 0.004577221814543009 + }, + { + "step": 40, + "commanded": 0.007476456956592974, + "achieved": 0.005420865025371313 + }, + { + "step": 44, + "commanded": 0.008563147698501469, + "achieved": 0.00633944571018219 + }, + { + "step": 48, + "commanded": 0.009692314951494339, + "achieved": 0.007323391269892454 + }, + { + "step": 52, + "commanded": 0.01085333958780048, + "achieved": 0.00836278684437275 + }, + { + "step": 56, + "commanded": 0.01203560247964881, + "achieved": 0.009447475895285606 + }, + { + "step": 60, + "commanded": 0.013228484499268233, + "achieved": 0.010567158460617065 + }, + { + "step": 64, + "commanded": 0.014421366518887656, + "achieved": 0.01171142142266035 + }, + { + "step": 68, + "commanded": 0.015603629410735986, + "achieved": 0.012869777157902718 + }, + { + "step": 72, + "commanded": 0.01676465404704213, + "achieved": 0.014031708240509033 + }, + { + "step": 76, + "commanded": 0.017893821300034998, + "achieved": 0.015186651609838009 + }, + { + "step": 80, + "commanded": 0.018980512041943492, + "achieved": 0.016324037685990334 + }, + { + "step": 84, + "commanded": 0.02001410714499652, + "achieved": 0.01743326336145401 + }, + { + "step": 88, + "commanded": 0.020983987481422994, + "achieved": 0.018503738567233086 + }, + { + "step": 92, + "commanded": 0.02187953392345182, + "achieved": 0.01952485926449299 + }, + { + "step": 96, + "commanded": 0.022690127343311908, + "achieved": 0.020486008375883102 + }, + { + "step": 100, + "commanded": 0.023405148613232153, + "achieved": 0.021376561373472214 + }, + { + "step": 104, + "commanded": 0.024013978605441473, + "achieved": 0.0221859160810709 + }, + { + "step": 108, + "commanded": 0.02450599819216877, + "achieved": 0.022903455421328545 + }, + { + "step": 112, + "commanded": 0.024870588245642956, + "achieved": 0.023518554866313934 + }, + { + "step": 116, + "commanded": 0.025097129638092935, + "achieved": 0.0240206066519022 + }, + { + "step": 120, + "commanded": 0.025175003241747616, + "achieved": 0.02439899742603302 + } + ], + "samples_omitted": 89, + "last_commanded_position": 0.025175003241747616, + "last_achieved_position": 0.02439899742603302 + }, + { + "phase": "restore", + "start_position": 0.02439899742603302, + "commanded_target": 3.6865474561942335e-10, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 0.024393942541225993, + "achieved": 0.024398567155003548 + }, + { + "step": 4, + "commanded": 0.02431947476895712, + "achieved": 0.024385569617152214 + }, + { + "step": 8, + "commanded": 0.024088136130190868, + "achieved": 0.024316780269145966 + }, + { + "step": 12, + "commanded": 0.02371582550842643, + "achieved": 0.02416299097239971 + }, + { + "step": 16, + "commanded": 0.02321338690235597, + "achieved": 0.023907972499728203 + }, + { + "step": 20, + "commanded": 0.022591664310671666, + "achieved": 0.023544499650597572 + }, + { + "step": 24, + "commanded": 0.021861501732065677, + "achieved": 0.023071330040693283 + }, + { + "step": 28, + "commanded": 0.02103374316523018, + "achieved": 0.022491220384836197 + }, + { + "step": 32, + "commanded": 0.020119232608857333, + "achieved": 0.021809691563248634 + }, + { + "step": 36, + "commanded": 0.019128814061639313, + "achieved": 0.021033959463238716 + }, + { + "step": 40, + "commanded": 0.018073331522268282, + "achieved": 0.020172439515590668 + }, + { + "step": 44, + "commanded": 0.016963628989436413, + "achieved": 0.019234417006373405 + }, + { + "step": 48, + "commanded": 0.015810550461835868, + "achieved": 0.01822962984442711 + }, + { + "step": 52, + "commanded": 0.01462493993815882, + "achieved": 0.01716822385787964 + }, + { + "step": 56, + "commanded": 0.013417641417097436, + "achieved": 0.016060570254921913 + }, + { + "step": 60, + "commanded": 0.012199498897343883, + "achieved": 0.01491718553006649 + }, + { + "step": 64, + "commanded": 0.01098135637759033, + "achieved": 0.01374869141727686 + }, + { + "step": 68, + "commanded": 0.009774057856528946, + "achieved": 0.012565805576741695 + }, + { + "step": 72, + "commanded": 0.008588447332851898, + "achieved": 0.011379268020391464 + }, + { + "step": 76, + "commanded": 0.007435368805251356, + "achieved": 0.01019986905157566 + }, + { + "step": 80, + "commanded": 0.006325666272419483, + "achieved": 0.009038396179676056 + }, + { + "step": 84, + "commanded": 0.0052701837330484565, + "achieved": 0.007905679754912853 + }, + { + "step": 88, + "commanded": 0.004279765185830432, + "achieved": 0.006812538485974073 + }, + { + "step": 92, + "commanded": 0.003365254629457585, + "achieved": 0.0057697962038218975 + }, + { + "step": 96, + "commanded": 0.0025374960626220813, + "achieved": 0.004788299091160297 + }, + { + "step": 100, + "commanded": 0.0018073334840160958, + "achieved": 0.0038788828533142805 + }, + { + "step": 104, + "commanded": 0.001185610892331792, + "achieved": 0.00305238738656044 + }, + { + "step": 108, + "commanded": 0.0006831722862613368, + "achieved": 0.0023196523543447256 + }, + { + "step": 112, + "commanded": 0.00031086166449689756, + "achieved": 0.0016915234737098217 + }, + { + "step": 116, + "commanded": 7.952302573064479e-05, + "achieved": 0.0011788400588557124 + }, + { + "step": 120, + "commanded": 3.6865474561942335e-10, + "achieved": 0.0007924474775791168 + } + ], + "samples_omitted": 89, + "last_commanded_position": 3.6865474561942335e-10, + "last_achieved_position": 0.0007924474775791168 + } + ], + "endpoints": { + "lower": { + "commanded": 0.0013250001706182958, + "achieved": 0.0012819657567888498, + "geometry": { + "coordinate_basis": "world and gripper-base-relative stage lengths; geometry proxies, not contacts", + "reference_path": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "reference_position_world": [ + -1.6969092797580743e-11, + -5.411493475548923e-11, + -0.00014283769996836782 + ], + "reference_quaternion_xyzw": [ + 0.7071068286895752, + 5.820766091346741e-11, + -7.73070496506989e-12, + -0.7071067094802856 + ], + "candidate_count": 2, + "candidates": [ + { + "body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "body_position_world": [ + 7.894414011389017e-10, + 0.0012819657567888498, + -0.00014284110511653125 + ], + "body_quaternion_xyzw": [ + 0.7071069478988647, + -8.568167686462402e-08, + 8.195638656616211e-08, + -0.7071067094802856 + ], + "tip_position_world": [ + 3.0564101930787013e-09, + 0.013481926239104096, + -0.11884285204868256 + ], + "tip_position_reference": [ + 3.066163065196954e-09, + 0.11870001207582967, + 0.013481946304545224 + ], + "geometry_min_world": [ + -0.01814000603785205, + -0.023649061162869058, + -0.11884285568279421 + ], + "geometry_max_world": [ + 0.005010006294824124, + 0.02423194435376287, + -0.07034283288944687 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_4", + "body_position_world": [ + -3.7971403799019754e-10, + -0.0012821959098801017, + -0.00014284053759183735 + ], + "body_quaternion_xyzw": [ + 0.7071069478988647, + 4.284083843231201e-08, + -5.587935447692871e-08, + -0.7071067094802856 + ], + "tip_position_world": [ + -8.651902393304323e-10, + -0.013482236437489472, + -0.11884284325409329 + ], + "tip_position_reference": [ + -8.579518000711433e-10, + 0.11870000782705839, + -0.013482216372049449 + ], + "geometry_min_world": [ + -0.005010005673178362, + -0.024232227517394584, + -0.1188428469540597 + ], + "geometry_max_world": [ + 0.018140002330489766, + 0.02364878130940641, + -0.07034284150693192 + ] + } + ], + "candidates_omitted": 0 + } + }, + "upper": { + "commanded": 0.025175003241747616, + "achieved": 0.02439899742603302, + "geometry": { + "coordinate_basis": "world and gripper-base-relative stage lengths; geometry proxies, not contacts", + "reference_path": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "reference_position_world": [ + -1.1331824367744048e-11, + -7.594280759803951e-11, + -0.00014283749624155462 + ], + "reference_quaternion_xyzw": [ + 0.7071068286895752, + 5.820766091346741e-11, + -7.73070496506989e-12, + -0.7071067094802856 + ], + "candidate_count": 2, + "candidates": [ + { + "body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "body_position_world": [ + 9.868472261587158e-09, + 0.02439900115132332, + -0.00014284573262557387 + ], + "body_quaternion_xyzw": [ + 0.7071069478988647, + -8.568167686462402e-08, + 8.195638656616211e-08, + -0.7071067094802856 + ], + "tip_position_world": [ + 1.2135441053526957e-08, + 0.036598961633638565, + -0.1188428566761916 + ], + "tip_position_reference": [ + 1.2141712342128103e-08, + 0.11870001300982472, + 0.03659898172090806 + ], + "geometry_min_world": [ + -0.01813999695882119, + -0.0005320257683345889, + -0.11884286031030325 + ], + "geometry_max_world": [ + 0.005010015373854985, + 0.04734897974829734, + -0.07034283751695591 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_4", + "body_position_world": [ + -1.3633325579576194e-09, + -0.02440316043794155, + -0.00014283361088018864 + ], + "body_quaternion_xyzw": [ + 0.7071069478988647, + 4.284083843231201e-08, + -5.587935447692871e-08, + -0.7071067094802856 + ], + "tip_position_world": [ + -1.8488087592978542e-09, + -0.036603200965550926, + -0.11884283632738164 + ], + "tip_position_reference": [ + -1.8493636396374085e-09, + 0.11870000500197676, + -0.03660318087828384 + ], + "geometry_min_world": [ + -0.005010006656796882, + -0.04735319204545603, + -0.11884284002734805 + ], + "geometry_max_world": [ + 0.018140001346871246, + 0.0005278167813449613, + -0.07034283458022027 + ] + } + ], + "candidates_omitted": 0 + } + } + }, + "achieved_endpoint_delta": 0.02311703166924417, + "required_endpoint_delta": 2.6500003412365914e-06, + "aperture_change_tolerance_m": 5.299999937415123e-05, + "max_opening_m": 0.05299999937415123, + "candidate_branches": { + "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3": 0, + "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_4": 1 + }, + "candidate_branches_omitted": 0, + "pair_observations": [ + { + "body_paths": [ + "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_4" + ], + "lower_m": 0.026964162676593857, + "upper_m": 0.07320216259919085, + "change_m": 0.046237999922596994 + } + ], + "pair_observations_omitted": 0, + "same_branch_pairs_ignored": 0 + }, + "unit": null + }, + "detect_aperture_lower_m_dof_0": { + "value": 0.026964162676593857, + "unit": null + }, + "detect_aperture_upper_m_dof_0": { + "value": 0.07320216259919085, + "unit": null + }, + "detect_achieved_lower_dof_0": { + "value": 0.0012819657567888498, + "unit": null + }, + "detect_achieved_upper_dof_0": { + "value": 0.02439899742603302, + "unit": null + }, + "detect_used_authored_grip_line": { + "value": false, + "unit": null + }, + "gripper_trial_controls": { + "value": { + "schema_version": 1, + "shape": "cube", + "configured_trial": false, + "object_size_m": 0.03709999956190586, + "object_mass_kg": 0.425, + "max_opening_m": 0.05299999937415123, + "hand_controls": {}, + "procedure_settings": { + "object_size_fraction": 0.7, + "static_friction": 2.0, + "dynamic_friction": 2.0, + "restitution": 0.0, + "payload_mass_fraction": 0.85, + "tested_mass_kg_override": null, + "open_limit_backoff_frac": 0.0, + "descent_contact_chunks": 12, + "descent_contact_max_step_m": 0.005, + "descent_contact_drop_m": 0.003, + "contact_backoff_m": null, + "heuristic_payload_kg_per_m_opening": 50.0, + "heuristic_payload_floor_kg": 0.1, + "heuristic_payload_ceiling_kg": 50.0, + "spawn_ground_clearance_m": 0.005, + "mount_height_m": 0.3, + "approach_extra_clearance_m": 0.03, + "open_close_detect_steps": 120, + "open_steps_max": 600, + "close_steps": 600, + "close_ramp_steps": 300, + "close_position_stall_eps": 0.001, + "close_stall_window": 8, + "close_engage_eps": 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": "Jaw_Drive", + "dof_index": 0, + "role": "closure", + "open_target": 0.026500003412365913, + "closed_target": 0.0, + "close_delay_steps": 0, + "unit": "unknown_native", + "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_cube": { + "value": 0.09064999934285878, + "unit": null + }, + "approach_clearance_m_cube": { + "value": 0.06709999956190585, + "unit": null + }, + "spawn_center_z_cube": { + "value": 0.02354999978095293, + "unit": null + }, + "open_joint_actual_cube": { + "value": 0.026499882340431213, + "unit": null + }, + "open_joint_expected_cube": { + "value": 0.026500003412365913, + "unit": null + }, + "open_joint_worst_error_cube": { + "value": 1.210719347000122e-07, + "unit": null + }, + "measured_separation_after_open_cube": { + "value": 0.05299975164234782, + "unit": null + }, + "descent_total_cube": { + "value": 0.06680720434044515, + "unit": null + }, + "descent_contacted_cube": { + "value": false, + "unit": null + }, + "contact_backoff_m_cube": { + "value": 0.0, + "unit": null + }, + "grasp_depth_search_m_cube": { + "value": 0.0, + "unit": null + }, + "close_blocked_by_object_cube": { + "value": true, + "unit": null + }, + "close_joint_actual_cube_Jaw_Drive": { + "value": 0.024092964828014374, + "unit": null + }, + "close_joint_fraction_cube": { + "value": 0.09083163299625552, + "unit": null + }, + "object_lateral_drift_after_close_cube": { + "value": 0.00018192099207732501, + "unit": null + }, + "object_z_drift_from_spawn_after_close_cube": { + "value": -0.005056140683591365, + "unit": null + }, + "grip_confirmed_contact_cube": { + "value": true, + "unit": null + }, + "grip_object_retained_cube": { + "value": true, + "unit": null + }, + "vertical_follow_dz_m_cube": { + "value": 0.007906896993517876, + "unit": null + }, + "horizontal_drift_m_cube": { + "value": 0.010120782978736339, + "unit": null + }, + "pre_load_dz_m_cube": { + "value": 2.1850690245628357e-05, + "unit": null + }, + "shake_object_min_z_cube": { + "value": 0.18378278613090515, + "unit": null + }, + "shake_max_relative_slip_m_cube": { + "value": 6.273388862609863e-06, + "unit": null + }, + "shake_passed_cube": { + "value": true, + "unit": null + }, + "drop_pre_z_cube": { + "value": 0.2037835419178009, + "unit": null + }, + "drop_post_z_cube": { + "value": 0.018549803644418716, + "unit": null + }, + "drop_dz_cube": { + "value": 0.1852337382733822, + "unit": null + }, + "drop_passed_cube": { + "value": true, + "unit": null + }, + "winning_shape": { + "value": "cube", + "unit": null + }, + "motion_history_gripper_cube": { + "value": { + "schema_version": 1, + "name": "gripper_cube", + "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": "cube", + "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": 472, + "json": "motion_history/gripper_cube.json", + "csv": "motion_history/gripper_cube.csv" + }, + "unit": null + }, + "motion_history_gripper_probe_joint_000": { + "value": { + "schema_version": 1, + "name": "gripper_probe_joint_000", + "channels": { + "target": { + "unit": "unknown_native", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "unknown_native", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "unknown_native", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "joint identity/type unresolved; native tensor units not inferred", + "identity_resolved": false, + "dof_index": 0, + "trial_index": 0, + "trial_shape": "cube", + "trial_number": 1, + "shape": "cube", + "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_000.json", + "csv": "motion_history/gripper_probe_joint_000.csv" + }, + "unit": null + }, + "motion_history_gripper_cube_joint_000": { + "value": { + "schema_version": 1, + "name": "gripper_cube_joint_000", + "channels": { + "position": { + "unit": "unknown_native", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "unknown_native", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 660.0, + "max_force": 100.0 + }, + "shape": "cube", + "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": 411, + "json": "motion_history/gripper_cube_joint_000.json", + "csv": "motion_history/gripper_cube_joint_000.csv" + }, + "unit": null + }, + "motion_history_gripper_cube_contacts": { + "value": { + "schema_version": 1, + "name": "gripper_cube_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": "cube", + "trial_index": 0, + "trial_number": 1, + "tip_link_paths": [ + "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_4" + ], + "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_cube_contacts.json", + "csv": "motion_history/gripper_cube_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": "gripper_close_lift_sphere", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 93.25, + "message": "", + "metrics": { + "gripper_max_opening_m": { + "value": 0.05299999937415123, + "unit": null + }, + "gripper_max_payload_kg": { + "value": 0.5, + "unit": null + }, + "used_heuristic_payload": { + "value": false, + "unit": null + }, + "tested_object_mass_kg": { + "value": 0.25, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 4.124, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 29, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 142.21, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.687, + "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 + }, + "test_support_collision_suspended": { + "value": [], + "unit": null + }, + "detect_probe_evidence_0": { + "value": { + "schema_version": 1, + "trial_index": 0, + "trial_shape": "sphere", + "dof_index": 0, + "joint_name": "Jaw_Drive", + "joint_units": "native articulation position units; see motion metadata when identity resolves", + "lower_limit": 0.0, + "upper_limit": 0.026500003412365913, + "inset_fraction": 0.05, + "original_position": 3.6865474561942335e-10, + "prior_target": 0.0, + "meters_per_unit": 1.0, + "reference_path": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "candidate_body_paths": [ + "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_4" + ], + "candidate_body_paths_omitted": 0, + "missing_geometry_paths": [], + "geometry_basis": "owned bound corners transformed by live tensor poses; not measured contacts", + "ramps": [ + { + "phase": "lower_endpoint", + "start_position": 3.6865474561942335e-10, + "commanded_target": 0.0013250001706182958, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 2.748767155690864e-07, + "achieved": 2.6748391945830008e-08 + }, + { + "step": 4, + "commanded": 4.318886527812005e-06, + "achieved": 7.319908945646603e-07 + }, + { + "step": 8, + "commanded": 1.6881847613096037e-05, + "achieved": 4.466925929591525e-06 + }, + { + "step": 12, + "commanded": 3.710036310972503e-05, + "achieved": 1.2817886272387113e-05 + }, + { + "step": 16, + "commanded": 6.438554421682628e-05, + "achieved": 2.6666213670978323e-05 + }, + { + "step": 20, + "commanded": 9.814850213352711e-05, + "achieved": 4.6404828026425093e-05 + }, + { + "step": 24, + "commanded": 0.00013780034805895486, + "achieved": 7.210053445305675e-05 + }, + { + "step": 28, + "commanded": 0.00018275219319223676, + "achieved": 0.00010360228043282405 + }, + { + "step": 32, + "commanded": 0.00023241514873250022, + "achieved": 0.00014061365800444037 + }, + { + "step": 36, + "commanded": 0.00028620032587887246, + "achieved": 0.00018274091416969895 + }, + { + "step": 40, + "commanded": 0.0003435188358304808, + "achieved": 0.00022952562721911818 + }, + { + "step": 44, + "commanded": 0.00040378178978645263, + "achieved": 0.0002804659307003021 + }, + { + "step": 48, + "commanded": 0.0004664002989459154, + "achieved": 0.00033503136364743114 + }, + { + "step": 52, + "commanded": 0.0005307854745079959, + "achieved": 0.0003926715289708227 + }, + { + "step": 56, + "commanded": 0.0005963484276718219, + "achieved": 0.00045282350038178265 + }, + { + "step": 60, + "commanded": 0.0006625002696365207, + "achieved": 0.0005149157950654626 + }, + { + "step": 64, + "commanded": 0.0007286521116012195, + "achieved": 0.0005783708184026182 + }, + { + "step": 68, + "commanded": 0.0007942150647650455, + "achieved": 0.0006426082109101117 + }, + { + "step": 72, + "commanded": 0.0008586002403271261, + "achieved": 0.0007070439751259983 + }, + { + "step": 76, + "commanded": 0.0009212187494865887, + "achieved": 0.0007710923091508448 + }, + { + "step": 80, + "commanded": 0.0009814817034425605, + "achieved": 0.0008341661305166781 + }, + { + "step": 84, + "commanded": 0.0010388002133941688, + "achieved": 0.0008956790552474558 + }, + { + "step": 88, + "commanded": 0.0010925853905405412, + "achieved": 0.0009550426038913429 + }, + { + "step": 92, + "commanded": 0.0011422483460808046, + "achieved": 0.001011669752188027 + }, + { + "step": 96, + "commanded": 0.0011872001912140867, + "achieved": 0.0010649701580405235 + }, + { + "step": 100, + "commanded": 0.0012268520371395144, + "achieved": 0.0011143562151119113 + }, + { + "step": 104, + "commanded": 0.0012606149950562151, + "achieved": 0.001159239443950355 + }, + { + "step": 108, + "commanded": 0.0012879001761633164, + "achieved": 0.001199030433781445 + }, + { + "step": 112, + "commanded": 0.0013081186916599453, + "achieved": 0.0012331415200605989 + }, + { + "step": 116, + "commanded": 0.0013206816527452294, + "achieved": 0.001260983059182763 + }, + { + "step": 120, + "commanded": 0.0013250001706182958, + "achieved": 0.0012819657567888498 + } + ], + "samples_omitted": 89, + "last_commanded_position": 0.0013250001706182958, + "last_achieved_position": 0.0012819657567888498 + }, + { + "phase": "upper_endpoint", + "start_position": 0.0012819657567888498, + "commanded_target": 0.025175003241747616, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 0.001286915818952979, + "achieved": 0.001282444573007524 + }, + { + "step": 4, + "commanded": 0.0013598393604435303, + "achieved": 0.001295158639550209 + }, + { + "step": 8, + "commanded": 0.0015863807528935098, + "achieved": 0.0013625050196424127 + }, + { + "step": 12, + "commanded": 0.0019509708063676955, + "achieved": 0.0015130918473005295 + }, + { + "step": 16, + "commanded": 0.0024429903930949944, + "achieved": 0.0017628107452765107 + }, + { + "step": 20, + "commanded": 0.003051820385304314, + "achieved": 0.0021187462843954563 + }, + { + "step": 24, + "commanded": 0.003766841655224562, + "achieved": 0.002582104876637459 + }, + { + "step": 28, + "commanded": 0.004577435075084645, + "achieved": 0.0031501578632742167 + }, + { + "step": 32, + "commanded": 0.005472981517113469, + "achieved": 0.0038175624795258045 + }, + { + "step": 36, + "commanded": 0.006442861853539943, + "achieved": 0.004577221814543009 + }, + { + "step": 40, + "commanded": 0.007476456956592974, + "achieved": 0.005420865025371313 + }, + { + "step": 44, + "commanded": 0.008563147698501469, + "achieved": 0.00633944571018219 + }, + { + "step": 48, + "commanded": 0.009692314951494339, + "achieved": 0.007323391269892454 + }, + { + "step": 52, + "commanded": 0.01085333958780048, + "achieved": 0.00836278684437275 + }, + { + "step": 56, + "commanded": 0.01203560247964881, + "achieved": 0.009447475895285606 + }, + { + "step": 60, + "commanded": 0.013228484499268233, + "achieved": 0.010567158460617065 + }, + { + "step": 64, + "commanded": 0.014421366518887656, + "achieved": 0.01171142142266035 + }, + { + "step": 68, + "commanded": 0.015603629410735986, + "achieved": 0.012869777157902718 + }, + { + "step": 72, + "commanded": 0.01676465404704213, + "achieved": 0.014031708240509033 + }, + { + "step": 76, + "commanded": 0.017893821300034998, + "achieved": 0.015186651609838009 + }, + { + "step": 80, + "commanded": 0.018980512041943492, + "achieved": 0.016324037685990334 + }, + { + "step": 84, + "commanded": 0.02001410714499652, + "achieved": 0.01743326336145401 + }, + { + "step": 88, + "commanded": 0.020983987481422994, + "achieved": 0.018503738567233086 + }, + { + "step": 92, + "commanded": 0.02187953392345182, + "achieved": 0.01952485926449299 + }, + { + "step": 96, + "commanded": 0.022690127343311908, + "achieved": 0.020486008375883102 + }, + { + "step": 100, + "commanded": 0.023405148613232153, + "achieved": 0.021376561373472214 + }, + { + "step": 104, + "commanded": 0.024013978605441473, + "achieved": 0.0221859160810709 + }, + { + "step": 108, + "commanded": 0.02450599819216877, + "achieved": 0.022903455421328545 + }, + { + "step": 112, + "commanded": 0.024870588245642956, + "achieved": 0.023518554866313934 + }, + { + "step": 116, + "commanded": 0.025097129638092935, + "achieved": 0.0240206066519022 + }, + { + "step": 120, + "commanded": 0.025175003241747616, + "achieved": 0.02439899742603302 + } + ], + "samples_omitted": 89, + "last_commanded_position": 0.025175003241747616, + "last_achieved_position": 0.02439899742603302 + }, + { + "phase": "restore", + "start_position": 0.02439899742603302, + "commanded_target": 3.6865474561942335e-10, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 0.024393942541225993, + "achieved": 0.024398567155003548 + }, + { + "step": 4, + "commanded": 0.02431947476895712, + "achieved": 0.024385569617152214 + }, + { + "step": 8, + "commanded": 0.024088136130190868, + "achieved": 0.024316780269145966 + }, + { + "step": 12, + "commanded": 0.02371582550842643, + "achieved": 0.02416299097239971 + }, + { + "step": 16, + "commanded": 0.02321338690235597, + "achieved": 0.023907972499728203 + }, + { + "step": 20, + "commanded": 0.022591664310671666, + "achieved": 0.023544499650597572 + }, + { + "step": 24, + "commanded": 0.021861501732065677, + "achieved": 0.023071330040693283 + }, + { + "step": 28, + "commanded": 0.02103374316523018, + "achieved": 0.022491220384836197 + }, + { + "step": 32, + "commanded": 0.020119232608857333, + "achieved": 0.021809691563248634 + }, + { + "step": 36, + "commanded": 0.019128814061639313, + "achieved": 0.021033959463238716 + }, + { + "step": 40, + "commanded": 0.018073331522268282, + "achieved": 0.020172439515590668 + }, + { + "step": 44, + "commanded": 0.016963628989436413, + "achieved": 0.019234417006373405 + }, + { + "step": 48, + "commanded": 0.015810550461835868, + "achieved": 0.01822962984442711 + }, + { + "step": 52, + "commanded": 0.01462493993815882, + "achieved": 0.01716822385787964 + }, + { + "step": 56, + "commanded": 0.013417641417097436, + "achieved": 0.016060570254921913 + }, + { + "step": 60, + "commanded": 0.012199498897343883, + "achieved": 0.01491718553006649 + }, + { + "step": 64, + "commanded": 0.01098135637759033, + "achieved": 0.01374869141727686 + }, + { + "step": 68, + "commanded": 0.009774057856528946, + "achieved": 0.012565805576741695 + }, + { + "step": 72, + "commanded": 0.008588447332851898, + "achieved": 0.011379268020391464 + }, + { + "step": 76, + "commanded": 0.007435368805251356, + "achieved": 0.01019986905157566 + }, + { + "step": 80, + "commanded": 0.006325666272419483, + "achieved": 0.009038396179676056 + }, + { + "step": 84, + "commanded": 0.0052701837330484565, + "achieved": 0.007905679754912853 + }, + { + "step": 88, + "commanded": 0.004279765185830432, + "achieved": 0.006812538485974073 + }, + { + "step": 92, + "commanded": 0.003365254629457585, + "achieved": 0.0057697962038218975 + }, + { + "step": 96, + "commanded": 0.0025374960626220813, + "achieved": 0.004788299091160297 + }, + { + "step": 100, + "commanded": 0.0018073334840160958, + "achieved": 0.0038788828533142805 + }, + { + "step": 104, + "commanded": 0.001185610892331792, + "achieved": 0.00305238738656044 + }, + { + "step": 108, + "commanded": 0.0006831722862613368, + "achieved": 0.0023196523543447256 + }, + { + "step": 112, + "commanded": 0.00031086166449689756, + "achieved": 0.0016915234737098217 + }, + { + "step": 116, + "commanded": 7.952302573064479e-05, + "achieved": 0.0011788400588557124 + }, + { + "step": 120, + "commanded": 3.6865474561942335e-10, + "achieved": 0.0007924474775791168 + } + ], + "samples_omitted": 89, + "last_commanded_position": 3.6865474561942335e-10, + "last_achieved_position": 0.0007924474775791168 + } + ], + "endpoints": { + "lower": { + "commanded": 0.0013250001706182958, + "achieved": 0.0012819657567888498, + "geometry": { + "coordinate_basis": "world and gripper-base-relative stage lengths; geometry proxies, not contacts", + "reference_path": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "reference_position_world": [ + -1.6969092797580743e-11, + -5.411493475548923e-11, + -0.00014283769996836782 + ], + "reference_quaternion_xyzw": [ + 0.7071068286895752, + 5.820766091346741e-11, + -7.73070496506989e-12, + -0.7071067094802856 + ], + "candidate_count": 2, + "candidates": [ + { + "body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "body_position_world": [ + 7.894414011389017e-10, + 0.0012819657567888498, + -0.00014284110511653125 + ], + "body_quaternion_xyzw": [ + 0.7071069478988647, + -8.568167686462402e-08, + 8.195638656616211e-08, + -0.7071067094802856 + ], + "tip_position_world": [ + 3.0564101930787013e-09, + 0.013481926239104096, + -0.11884285204868256 + ], + "tip_position_reference": [ + 3.066163065196954e-09, + 0.11870001207582967, + 0.013481946304545224 + ], + "geometry_min_world": [ + -0.01814000603785205, + -0.023649061162869058, + -0.11884285568279421 + ], + "geometry_max_world": [ + 0.005010006294824124, + 0.02423194435376287, + -0.07034283288944687 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_4", + "body_position_world": [ + -3.7971403799019754e-10, + -0.0012821959098801017, + -0.00014284053759183735 + ], + "body_quaternion_xyzw": [ + 0.7071069478988647, + 4.284083843231201e-08, + -5.587935447692871e-08, + -0.7071067094802856 + ], + "tip_position_world": [ + -8.651902393304323e-10, + -0.013482236437489472, + -0.11884284325409329 + ], + "tip_position_reference": [ + -8.579518000711433e-10, + 0.11870000782705839, + -0.013482216372049449 + ], + "geometry_min_world": [ + -0.005010005673178362, + -0.024232227517394584, + -0.1188428469540597 + ], + "geometry_max_world": [ + 0.018140002330489766, + 0.02364878130940641, + -0.07034284150693192 + ] + } + ], + "candidates_omitted": 0 + } + }, + "upper": { + "commanded": 0.025175003241747616, + "achieved": 0.02439899742603302, + "geometry": { + "coordinate_basis": "world and gripper-base-relative stage lengths; geometry proxies, not contacts", + "reference_path": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "reference_position_world": [ + -1.1331824367744048e-11, + -7.594280759803951e-11, + -0.00014283749624155462 + ], + "reference_quaternion_xyzw": [ + 0.7071068286895752, + 5.820766091346741e-11, + -7.73070496506989e-12, + -0.7071067094802856 + ], + "candidate_count": 2, + "candidates": [ + { + "body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "body_position_world": [ + 9.868472261587158e-09, + 0.02439900115132332, + -0.00014284573262557387 + ], + "body_quaternion_xyzw": [ + 0.7071069478988647, + -8.568167686462402e-08, + 8.195638656616211e-08, + -0.7071067094802856 + ], + "tip_position_world": [ + 1.2135441053526957e-08, + 0.036598961633638565, + -0.1188428566761916 + ], + "tip_position_reference": [ + 1.2141712342128103e-08, + 0.11870001300982472, + 0.03659898172090806 + ], + "geometry_min_world": [ + -0.01813999695882119, + -0.0005320257683345889, + -0.11884286031030325 + ], + "geometry_max_world": [ + 0.005010015373854985, + 0.04734897974829734, + -0.07034283751695591 + ] + }, + { + "body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_4", + "body_position_world": [ + -1.3633325579576194e-09, + -0.02440316043794155, + -0.00014283361088018864 + ], + "body_quaternion_xyzw": [ + 0.7071069478988647, + 4.284083843231201e-08, + -5.587935447692871e-08, + -0.7071067094802856 + ], + "tip_position_world": [ + -1.8488087592978542e-09, + -0.036603200965550926, + -0.11884283632738164 + ], + "tip_position_reference": [ + -1.8493636396374085e-09, + 0.11870000500197676, + -0.03660318087828384 + ], + "geometry_min_world": [ + -0.005010006656796882, + -0.04735319204545603, + -0.11884284002734805 + ], + "geometry_max_world": [ + 0.018140001346871246, + 0.0005278167813449613, + -0.07034283458022027 + ] + } + ], + "candidates_omitted": 0 + } + } + }, + "achieved_endpoint_delta": 0.02311703166924417, + "required_endpoint_delta": 2.6500003412365914e-06, + "aperture_change_tolerance_m": 5.299999937415123e-05, + "max_opening_m": 0.05299999937415123, + "candidate_branches": { + "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3": 0, + "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_4": 1 + }, + "candidate_branches_omitted": 0, + "pair_observations": [ + { + "body_paths": [ + "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_4" + ], + "lower_m": 0.026964162676593857, + "upper_m": 0.07320216259919085, + "change_m": 0.046237999922596994 + } + ], + "pair_observations_omitted": 0, + "same_branch_pairs_ignored": 0 + }, + "unit": null + }, + "detect_aperture_lower_m_dof_0": { + "value": 0.026964162676593857, + "unit": null + }, + "detect_aperture_upper_m_dof_0": { + "value": 0.07320216259919085, + "unit": null + }, + "detect_achieved_lower_dof_0": { + "value": 0.0012819657567888498, + "unit": null + }, + "detect_achieved_upper_dof_0": { + "value": 0.02439899742603302, + "unit": null + }, + "detect_used_authored_grip_line": { + "value": false, + "unit": null + }, + "gripper_trial_controls": { + "value": { + "schema_version": 1, + "shape": "sphere", + "configured_trial": false, + "object_size_m": 0.03709999956190586, + "object_mass_kg": 0.25, + "max_opening_m": 0.05299999937415123, + "hand_controls": {}, + "procedure_settings": { + "object_size_fraction": 0.7, + "static_friction": 2.0, + "dynamic_friction": 2.0, + "restitution": 0.0, + "payload_mass_fraction": 0.5, + "tested_mass_kg_override": null, + "open_limit_backoff_frac": 0.0, + "descent_contact_chunks": 12, + "descent_contact_max_step_m": 0.005, + "descent_contact_drop_m": 0.003, + "contact_backoff_m": null, + "heuristic_payload_kg_per_m_opening": 50.0, + "heuristic_payload_floor_kg": 0.1, + "heuristic_payload_ceiling_kg": 50.0, + "spawn_ground_clearance_m": 0.005, + "mount_height_m": 0.3, + "approach_extra_clearance_m": 0.03, + "open_close_detect_steps": 120, + "open_steps_max": 600, + "close_steps": 600, + "close_ramp_steps": 300, + "close_position_stall_eps": 0.001, + "close_stall_window": 8, + "close_engage_eps": 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": "Jaw_Drive", + "dof_index": 0, + "role": "closure", + "open_target": 0.026500003412365913, + "closed_target": 0.0, + "close_delay_steps": 0, + "unit": "unknown_native", + "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": 0.09064999934285878, + "unit": null + }, + "approach_clearance_m_sphere": { + "value": 0.06709999956190585, + "unit": null + }, + "spawn_center_z_sphere": { + "value": 0.02354999978095293, + "unit": null + }, + "open_joint_actual_sphere": { + "value": 0.026499882340431213, + "unit": null + }, + "open_joint_expected_sphere": { + "value": 0.026500003412365913, + "unit": null + }, + "open_joint_worst_error_sphere": { + "value": 1.210719347000122e-07, + "unit": null + }, + "measured_separation_after_open_sphere": { + "value": 0.05299975164234782, + "unit": null + }, + "descent_total_sphere": { + "value": 0.06680715591167127, + "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_Jaw_Drive": { + "value": 0.012789642438292503, + "unit": null + }, + "close_joint_fraction_sphere": { + "value": 0.51737204560795, + "unit": null + }, + "object_lateral_drift_after_close_sphere": { + "value": 0.002707917074997522, + "unit": null + }, + "object_z_drift_from_spawn_after_close_sphere": { + "value": -0.005000002421438693, + "unit": null + }, + "grip_confirmed_contact_sphere": { + "value": true, + "unit": null + }, + "grip_object_retained_sphere": { + "value": true, + "unit": null + }, + "vertical_follow_dz_m_sphere": { + "value": 0.005449499934911728, + "unit": null + }, + "horizontal_drift_m_sphere": { + "value": 0.010167703019993762, + "unit": null + }, + "pre_load_dz_m_sphere": { + "value": 0.0, + "unit": null + }, + "shake_object_min_z_sphere": { + "value": 0.18811456859111786, + "unit": null + }, + "shake_max_relative_slip_m_sphere": { + "value": 1.1265277862548828e-05, + "unit": null + }, + "shake_passed_sphere": { + "value": true, + "unit": null + }, + "drop_pre_z_sphere": { + "value": 0.2081151008605957, + "unit": null + }, + "drop_post_z_sphere": { + "value": 0.018549999222159386, + "unit": null + }, + "drop_dz_sphere": { + "value": 0.18956510163843632, + "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": 472, + "json": "motion_history/gripper_sphere.json", + "csv": "motion_history/gripper_sphere.csv" + }, + "unit": null + }, + "motion_history_gripper_probe_joint_000": { + "value": { + "schema_version": 1, + "name": "gripper_probe_joint_000", + "channels": { + "target": { + "unit": "unknown_native", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "unknown_native", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "unknown_native", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "joint identity/type unresolved; native tensor units not inferred", + "identity_resolved": false, + "dof_index": 0, + "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_000.json", + "csv": "motion_history/gripper_probe_joint_000.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_joint_000": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_joint_000", + "channels": { + "position": { + "unit": "unknown_native", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "unknown_native", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 660.0, + "max_force": 100.0 + }, + "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": 411, + "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/SCHUNK_1500102Grundbacke_EGK_25_3", + "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_4" + ], + "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": 341.063, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 28.498, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 633.29, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.032, + "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_Jaw_Drive_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_Jaw_Drive_trans_pct": { + "value": 36.82, + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_m": { + "value": 0.072, + "unit": null + }, + "jm_joint_Jaw_Drive_translation_stage_units": { + "value": 0.02650045589820283, + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_diagonal_stage_units": { + "value": 0.07197753272368271, + "unit": null + }, + "jm_joint_Jaw_Drive_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Jaw_Drive_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_Jaw_Drive_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_Jaw_Drive_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_Jaw_Drive_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_PrismaticJoint0_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_PrismaticJoint0_trans_pct": { + "value": 36.82, + "unit": null + }, + "jm_joint_PrismaticJoint0_bbox_m": { + "value": 0.072, + "unit": null + }, + "jm_joint_PrismaticJoint0_translation_stage_units": { + "value": 0.0265004580629952, + "unit": null + }, + "jm_joint_PrismaticJoint0_bbox_diagonal_stage_units": { + "value": 0.0719775310095505, + "unit": null + }, + "jm_joint_PrismaticJoint0_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_PrismaticJoint0_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_PrismaticJoint0_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_PrismaticJoint0_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_PrismaticJoint0_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_PrismaticJoint0_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_PrismaticJoint0_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joints_total": { + "value": 2, + "unit": null + }, + "jm_joints_passed": { + "value": 2, + "unit": null + }, + "jm_joints_failed": { + "value": 0, + "unit": null + }, + "jm_joint_Jaw_Drive_status": { + "value": "passed", + "unit": null + }, + "jm_joint_PrismaticJoint0_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" + }, + "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": "Jaw_Drive", + "authored_joint_name": "Jaw_Drive", + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "phase": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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": "PrismaticJoint0", + "authored_joint_name": "PrismaticJoint0", + "prim_path": "/World/AssetRoot/Asset/joints/PrismaticJoint0", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_4", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "phase": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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": "Jaw_Drive", + "authored_joint_name": "Jaw_Drive", + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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": "PrismaticJoint0", + "authored_joint_name": "PrismaticJoint0", + "prim_path": "/World/AssetRoot/Asset/joints/PrismaticJoint0", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_4", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; 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 + } + }, + "kit_logs": [] + }, + { + "test_name": "joint_movement_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 80.89, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 7.935, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 176.33, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.875, + "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_Jaw_Drive_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_Jaw_Drive_trans_pct": { + "value": 36.66, + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_m": { + "value": 0.072, + "unit": null + }, + "jm_joint_Jaw_Drive_translation_stage_units": { + "value": 0.026383606716990998, + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_diagonal_stage_units": { + "value": 0.0719775378921349, + "unit": null + }, + "jm_joint_Jaw_Drive_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Jaw_Drive_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_Jaw_Drive_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_Jaw_Drive_pct_of_travel": { + "value": 99.6, + "unit": null + }, + "jm_joint_Jaw_Drive_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_PrismaticJoint0_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_PrismaticJoint0_trans_pct": { + "value": 36.8, + "unit": null + }, + "jm_joint_PrismaticJoint0_bbox_m": { + "value": 0.072, + "unit": null + }, + "jm_joint_PrismaticJoint0_translation_stage_units": { + "value": 0.026491265743970573, + "unit": null + }, + "jm_joint_PrismaticJoint0_bbox_diagonal_stage_units": { + "value": 0.07197753327108058, + "unit": null + }, + "jm_joint_PrismaticJoint0_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_PrismaticJoint0_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_PrismaticJoint0_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_PrismaticJoint0_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_PrismaticJoint0_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_PrismaticJoint0_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_PrismaticJoint0_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joints_total": { + "value": 2, + "unit": null + }, + "jm_joints_passed": { + "value": 2, + "unit": null + }, + "jm_joints_failed": { + "value": 0, + "unit": null + }, + "jm_joint_Jaw_Drive_status": { + "value": "passed", + "unit": null + }, + "jm_joint_PrismaticJoint0_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" + }, + "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": "Jaw_Drive", + "authored_joint_name": "Jaw_Drive", + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "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_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": "PrismaticJoint0", + "authored_joint_name": "PrismaticJoint0", + "prim_path": "/World/AssetRoot/Asset/joints/PrismaticJoint0", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_4", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "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 + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 66.969, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 28.814, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 960.47, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.782, + "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": 0.852708, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.031941, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 66.969, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 28.814, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 960.47, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.782, + "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": 0.852708, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.031941, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 45.843, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.954, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1990.8, + "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": 15, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 15, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 15, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 15, + "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": 62, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 42176, + "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": 45.843, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.954, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1990.8, + "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": 15, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 15, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 15, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 15, + "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": 62, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 42176, + "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": 21.781, + "message": "", + "metrics": { + "mim_mimic_pairs_detected": { + "value": 1, + "unit": null + }, + "mim_skipped_pairs": { + "value": 0, + "unit": null + }, + "mimic_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.24207612514751006, + "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": 0.797, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 4, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 199.25, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.562, + "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 + }, + "mim_pair_PrismaticJoint0_max_error_rad": { + "value": 7.148333982823522e-05, + "unit": null + }, + "mim_pair_PrismaticJoint0_mean_error_rad": { + "value": 2.15425587965238e-06, + "unit": null + }, + "mim_pair_PrismaticJoint0_ref_swept_rad": { + "value": 0.023497547168517485, + "unit": null + }, + "mim_pair_PrismaticJoint0_follower_observed_rad": { + "value": 0.02357013623986859, + "unit": null + }, + "mim_pair_PrismaticJoint0_follower_expected_rad": { + "value": 0.023497547168517485, + "unit": null + }, + "mim_pair_PrismaticJoint0_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_PrismaticJoint0_motion_ratio": { + "value": 1.0030892190929765, + "unit": null + }, + "mim_pair_PrismaticJoint0_gear_ratio_error": { + "value": 0.0030892190929765473, + "unit": null + }, + "mim_pair_PrismaticJoint0_abs_formula_max_error_rad": { + "value": 7.14826601324603e-05, + "unit": null + }, + "mim_pair_PrismaticJoint0_rest_residual_rad": { + "value": 6.796957749237442e-10, + "unit": null + }, + "mim_pairs_passed": { + "value": 1, + "unit": null + }, + "mim_pairs_failed": { + "value": 0, + "unit": null + }, + "motion_history_mim_reference_001": { + "value": { + "schema_version": 1, + "name": "mim_reference_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "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": "Jaw_Drive", + "follower_joint_name": "PrismaticJoint0", + "gearing": 1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "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": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 660.0, + "max_force": 100.0 + } + }, + "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_001.json", + "csv": "motion_history/mim_reference_001.csv" + }, + "unit": null + }, + "motion_history_mim_follower_001": { + "value": { + "schema_version": 1, + "name": "mim_follower_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "unknown_native", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "unknown_native", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "unknown_native", + "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": "Jaw_Drive", + "follower_joint_name": "PrismaticJoint0", + "gearing": 1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "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": "PrismaticJoint0", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/PrismaticJoint0", + "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 + } + }, + "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": "mimic_joint_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 48.875, + "message": "", + "metrics": { + "mim_mimic_pairs_detected": { + "value": 1, + "unit": null + }, + "mim_skipped_pairs": { + "value": 0, + "unit": null + }, + "mimic_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.2420761041500652, + "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": 4, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 199.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.562, + "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 + }, + "mim_pair_PrismaticJoint0_max_error_rad": { + "value": 0.0003605414160083585, + "unit": null + }, + "mim_pair_PrismaticJoint0_mean_error_rad": { + "value": 0.00010882969997237414, + "unit": null + }, + "mim_pair_PrismaticJoint0_ref_swept_rad": { + "value": 0.0236250791567727, + "unit": null + }, + "mim_pair_PrismaticJoint0_follower_observed_rad": { + "value": 0.023062910127919167, + "unit": null + }, + "mim_pair_PrismaticJoint0_follower_expected_rad": { + "value": 0.0236250791567727, + "unit": null + }, + "mim_pair_PrismaticJoint0_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_PrismaticJoint0_motion_ratio": { + "value": 0.9762045652789962, + "unit": null + }, + "mim_pair_PrismaticJoint0_gear_ratio_error": { + "value": 0.02379543472100376, + "unit": null + }, + "mim_pair_PrismaticJoint0_abs_formula_max_error_rad": { + "value": 0.0003605414167395793, + "unit": null + }, + "mim_pair_PrismaticJoint0_rest_residual_rad": { + "value": 7.312208010468866e-13, + "unit": null + }, + "mim_pairs_passed": { + "value": 1, + "unit": null + }, + "mim_pairs_failed": { + "value": 0, + "unit": null + }, + "motion_history_mim_reference_001": { + "value": { + "schema_version": 1, + "name": "mim_reference_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "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": "Jaw_Drive", + "follower_joint_name": "PrismaticJoint0", + "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": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2500.0, + "damping": 0.0, + "max_force": 10.0 + } + }, + "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_001.json", + "csv": "motion_history/mim_reference_001.csv" + }, + "unit": null + }, + "motion_history_mim_follower_001": { + "value": { + "schema_version": 1, + "name": "mim_follower_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "unknown_native", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "unknown_native", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "unknown_native", + "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": "Jaw_Drive", + "follower_joint_name": "PrismaticJoint0", + "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": "PrismaticJoint0", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/PrismaticJoint0", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "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 + } + }, + "kit_logs": [] + }, + { + "test_name": "multi_joint_coordination", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 2.796, + "message": "MJC: asset has only 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\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": 2, + "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 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\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": 33.281, + "message": "MJC: asset has only 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\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": 2, + "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 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\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": 52.5, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 15.014, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1876.75, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.891, + "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": 0.000875, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.004215, + "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": 52.5, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 15.014, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1876.75, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.891, + "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": 0.000875, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.004215, + "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": 48.188, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 6.295, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1259.0, + "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 + }, + "mtlx_surface_materials_with_universal": { + "value": 15, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 15, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 15, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 15, + "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": 62, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 42082, + "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": 48.188, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 6.295, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1259.0, + "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 + }, + "mtlx_surface_materials_with_universal": { + "value": 15, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 15, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 15, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 15, + "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": 62, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 42082, + "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": 211.344, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 46.081, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 2304.05, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.657, + "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": 0.9, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 0.0, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 1, + "unit": null + }, + "pivot_ground_penetration": { + "value": 1, + "unit": null + }, + "pivot_orbital_motion": { + "value": 0, + "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": 211.344, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 46.081, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 2304.05, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.657, + "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": 0.9, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 0.0, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 1, + "unit": null + }, + "pivot_ground_penetration": { + "value": 1, + "unit": null + }, + "pivot_orbital_motion": { + "value": 0, + "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": 14.985, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.718, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1859.0, + "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": 0.284141, + "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": 14.985, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.718, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1859.0, + "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": 0.284141, + "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": 49.312, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 7.048, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1409.6, + "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": 15, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 15, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 15, + "unit": null + }, + "universal_surface_materials_total": { + "value": 15, + "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": 62, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 41931, + "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": 49.312, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 7.048, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1409.6, + "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": 15, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 15, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 15, + "unit": null + }, + "universal_surface_materials_total": { + "value": 15, + "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": 62, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 41931, + "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": 18.516, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 1, + "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": 0.24207612514751006, + "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": 1.438, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 10, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 143.8, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.016, + "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": 0.013449010665640072, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "unknown_native", + "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": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 660.0, + "max_force": 100.0 + } + }, + "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": [ + { + "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": "state_accuracy_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 60.016, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 1, + "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": 0.2420761041500652, + "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": 1.578, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 10, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 157.8, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.937, + "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": 0.0023838374059549625, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "unknown_native", + "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": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2500.0, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 170, + "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": 10.812, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 1, + "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": 0.24207612514751006, + "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": 0.562, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 562.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.422, + "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 + }, + "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": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "unknown_native/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "unknown_native/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": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 660.0, + "max_force": 100.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 7, + "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'" + } + ] + }, + { + "test_name": "velocity_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 33.141, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 1, + "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": 0.2420761041500652, + "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": 0.453, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 453.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.813, + "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": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "unknown_native/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "unknown_native/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": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2500.0, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 24, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + } + ] +} diff --git a/schunk_egk_25_schunk_egk_25/.metadata/schunk_egk_25_schunk_egk_25_validation.json b/schunk_egk_25_schunk_egk_25/.metadata/schunk_egk_25_schunk_egk_25_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..8cb0452912fd23f9c7384025a4cca60bf94aa819 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/.metadata/schunk_egk_25_schunk_egk_25_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/schunk_egk_25.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/schunk_egk_25_schunk_egk_25/.thumbs/256x256/schunk_egk_25.usda.png b/schunk_egk_25_schunk_egk_25/.thumbs/256x256/schunk_egk_25.usda.png new file mode 100644 index 0000000000000000000000000000000000000000..f361468c5ff30f2bb3190ce4864d87e6e831857e --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/.thumbs/256x256/schunk_egk_25.usda.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e39b1b39a794b03505d325da6f5ea16081633113f164f54472f48e271a52e726 +size 43021 diff --git a/schunk_egk_25_schunk_egk_25/com.nvidia.simready.packaging.json b/schunk_egk_25_schunk_egk_25/com.nvidia.simready.packaging.json new file mode 100644 index 0000000000000000000000000000000000000000..c955230b28009eee490df8c17f3ec3ad07e37672 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/com.nvidia.simready.packaging.json @@ -0,0 +1,49 @@ +{ + "format_version": "1.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.schunk_egk_25_schunk_egk_25.1.0.0", + "license": "CC-BY-4.0", + "metadata": [ + { + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "hash": { + "sha256": "c557ac5f25b4a82c517c4507699358ce845a94febfc5fecab1a371baed1e438d" + } + }, + { + "name": "com.nvidia.simready.packaging.bom.json", + "hash": { + "sha256": "af91c32fb8463babfd0f92ff1a9dd7d850769fae08a870e2de90d78b478f6401" + } + }, + { + "name": "com.nvidia.simready.root_usds.json", + "hash": { + "sha256": "b440849d1acefb25a83046d1582a34187b8a01348469923a6d2464ec2549908e" + } + }, + { + "name": "license.txt", + "hash": { + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + } + }, + { + "name": "schunk_egk_25_schunk_egk_25_benchmark.json", + "hash": { + "sha256": "a2016d5228d375ec94657aab29beaa6d9ce1f211482980fd2bb1f6ffbae5b4d4" + } + }, + { + "name": "schunk_egk_25_schunk_egk_25_validation.json", + "hash": { + "sha256": "97ccf87aedf002c422741623dae16b437288954db900b407ca65e6d474859784" + } + } + ], + "content_hash": { + "sha256": "013e380b72bb0840c33f625fad18787867ee43e20a87e831c0e658b86f328a34" + }, + "package_hash": { + "sha256": "b39afc1c1120d1318c4b1e06bf01bd900b7374bb123f3cb15dce91c9855b7e89" + } +} diff --git a/schunk_egk_25_schunk_egk_25/materials/mdl/OmniPBR.mdl b/schunk_egk_25_schunk_egk_25/materials/mdl/OmniPBR.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bcd0685466a09006ac9e009969d32de43d6d04d9 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/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/schunk_egk_25_schunk_egk_25/materials/mdl/OmniPBRBase.mdl b/schunk_egk_25_schunk_egk_25/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/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/schunk_egk_25_schunk_egk_25/materials/mdl/OmniPBR_ClearCoat.mdl b/schunk_egk_25_schunk_egk_25/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/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/schunk_egk_25_schunk_egk_25/materials/mdl/aux_definitions.mdl b/schunk_egk_25_schunk_egk_25/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/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/schunk_egk_25_schunk_egk_25/materials/mdl/core_definitions.mdl b/schunk_egk_25_schunk_egk_25/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/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/schunk_egk_25_schunk_egk_25/materials/mdl/license.txt b/schunk_egk_25_schunk_egk_25/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/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/schunk_egk_25_schunk_egk_25/materials/mdl/support_definitions.mdl b/schunk_egk_25_schunk_egk_25/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/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/schunk_egk_25_schunk_egk_25/payloads/Fingers/default.usda b/schunk_egk_25_schunk_egk_25/payloads/Fingers/default.usda new file mode 100644 index 0000000000000000000000000000000000000000..0c06aa29d5ed9167a8dbbca5e902ac7b04fe8227 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/payloads/Fingers/default.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egk_25" + metersPerUnit = 1 + upAxis = "Z" +) + +def "schunk_egk_25" +{ +} +